Zobrazeno 1 - 8
of 8
pro vyhledávání: '"Prasanth Kotaru"'
Publikováno v:
IEEE Robotics and Automation Letters. 5:3074-3081
Generating agile maneuvers for a quadrotor with a cable-suspended load is a challenging problem. State-of-the-art approaches often need significant computation time and complex parameter tuning. We use a coordinate-free geometric formulation and expl
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::aa2b0f800fe525187a0b302dd6ba2202
https://doi.org/10.1109/lra.2020.2972845
https://doi.org/10.1109/lra.2020.2972845
Autor:
Bike Zhang, Prasanth Kotaru, Mark W. Mueller, Koushil Sreenath, Katherine L. Poggensee, Albert H. Li, Daniel Sotsaikich
Publikováno v:
ECC
The increasing integration of robots in daily life necessitates research in multitasking strategies. The act of juggling offers a simple platform to test techniques which may be generalizable to more complex tasks and systems. This paper presents bot
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::50af823953021f54dda642fde6f2237d
https://doi.org/10.23919/ecc51009.2020.9143967
https://doi.org/10.23919/ecc51009.2020.9143967
In this paper, we study the quadrotor unmanned aerial vehicle (UAV) attitude control on special orthogonal group (SO(3)) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is s
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ead213bfe0b7f678137e4c7be5d93712
http://arxiv.org/abs/1910.07730
http://arxiv.org/abs/1910.07730
Publikováno v:
ACC
We study a quadrotor with a cable-suspended load, where the cable length can be controlled by applying a torque on a pulley attached to the quadrotor. A coordinate-free dynamical model of the quadrotor-pulley-load system with nine degrees-of-freedom
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ce1effc9276f549c8ea13c357a05f227
https://doi.org/10.23919/acc.2019.8815173
https://doi.org/10.23919/acc.2019.8815173
Autor:
Koushil Sreenath, Prasanth Kotaru
Publikováno v:
ECC
In this paper, we propose a variation-based extended Kalman filter (V-EKF) on the two-sphere manifold. We consider the spherical pendulum dynamical system whose nonlinear geometric dynamics evolve on the two-sphere. These dynamics are linearized abou
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::931badcd7b3947539bc83e1951c44057
https://doi.org/10.23919/ecc.2019.8795986
https://doi.org/10.23919/ecc.2019.8795986
Autor:
Koushil Sreenath, Prasanth Kotaru
Using quadrotors UAVs for cooperative payload transportation using cables has been actively gaining interest in the recent years. Understanding the dynamics of these complex multi-agent systems would help towards designing safe and reliable systems.
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d6fe886535147b336a2b053237ff4a59
Differential-Flatness and Control of Quadrotor(s) with a Payload Suspended through Flexible Cable(s)
We present the coordinate-free dynamics of three different quadrotor systems : (a) single quadrotor with a point-mass payload suspended through a flexible cable; (b) multiple quadrotors with a shared point-mass payload suspended through flexible cabl
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5f4e8bf7d044bcebf9d4fc6ae92c6cdb
http://arxiv.org/abs/1711.04895
http://arxiv.org/abs/1711.04895
Publikováno v:
ACC
We study the problem of a quadrotor transporting a payload suspended through a cable. While prior work has modeled the cable as a massless rigid link, in this paper, we consider the cable to be elastic with both spring stiffness and damping. We deriv
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::152f24c18ab9a73a9283537ae5c280b1
https://doi.org/10.23919/acc.2017.7963553
https://doi.org/10.23919/acc.2017.7963553