Autonomous and Adaptive Navigation for Terrestrial-Aerial Bimodal Vehicles

Article Automation & Control Systems

Multimodal Dynamics Analysis and Control for Amphibious Fly-Drive Vehicle

Qifan Tan et al.

Summary: This article introduces a novel amphibious fly-drive vehicle that achieves continuous air-land motion through rotor-wing and Ackerman chassis driving. It utilizes an integrated dynamic model and rotor-wing controller to enhance the landing stability of the fly-drive vehicle.

IEEE-ASME TRANSACTIONS ON MECHATRONICS (2021)

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Article Robotics

Design and Analysis of FCSTAR, a Hybrid Flying and Climbing Sprawl Tuned Robot

Nitzan Ben David et al.

Summary: This letter presents a hybrid flying and climbing robot named FCSTAR. The robot is equipped with a sprawling mechanism and propellers for climbing over slopes and running and flying using the same motors. By using thrust reversal and 4-wheel drive, the robot can overcome steep slopes and reach high places.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

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Article Engineering, Mechanical

Control and Control Allocation for Bimodal, Rotary Wing, Rolling-Flying Vehicles

Stefan Atay et al.

Summary: This paper presents a robust method for controlling the terrestrial motion of a bimodal multirotor vehicle that can roll and fly, demonstrating good performance and robustness under closed-loop control and showcasing a novel control allocation strategy that minimizes power consumption. The study explores factors influencing the mobility and controllability of the vehicle, comparing it to strictly flying multirotor vehicles and developing unique control and control allocation strategies based on its non-standard configuration. Experimental data collected also show the algorithm's ability to determine a thrust-minimizing solution in real-time.

JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME (2021)

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Article Robotics

TGK-Planner: An Efficient Topology Guided Kinodynamic Planner for Autonomous Quadrotors

Hongkai Ye et al.

Summary: In this letter, a lightweight and effective Topology Guided Kinodynamic planner (TGK-Planner) is proposed for quadrotor aggressive flights with limited onboard computing resources. The system follows the traditional hierarchical planning workflow with novel designs to improve efficiency and trajectory quality, successfully validated in various simulated and real-world scenarios. Benchmark comparisons demonstrate that the proposed method outperforms state-of-the-art methods in terms of efficiency and trajectory quality, with the code set to be released as an open-source package.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

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Article Robotics

EGO-Planner: An ESDF-Free Gradient-Based Local Planner for Quadrotors

Xin Zhou et al.

Summary: A gradient-based planning framework without ESDF is proposed, which reduces computation time significantly by comparing the colliding trajectory with a collision-free guiding path to store necessary obstacle information. Additionally, an anisotropic curve fitting algorithm is introduced to adjust higher order derivatives of the trajectory while maintaining the original shape.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

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Article Automation & Control Systems

Driving and tilt-hovering - An agile and manoeuvrable aerial vehicle with tiltable rotors

Binbin Li et al.

Summary: The article introduces a novel aerial platform with tiltable rotors, allowing for vector-flying, tilt-hovering, and driving capabilities. A geometric tracking control scheme is utilized to ensure the maneuverability of the aircraft in various maneuvers.

IET CYBER-SYSTEMS AND ROBOTICS (2021)

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Proceedings Paper Computer Science, Artificial Intelligence