Abstract: A consensus-based decentralized multi-robot approach is presented for reconstructing a discrete distribution of features, modeled as an occupancy grid map, that represent information contained in a bounded planar 2D environment, such as visual cues used for navigation or semantic labels associated with object detection. The robots explore the environment according to a random walk modeled by a discrete-time discrete-state (DTDS) Markov chain and estimate the feature distribution from their own measurements and the estimates communicated by neighboring robots, using a distributed Chernoff fusion protocol. Under this decentralized fusion protocol, each robot's feature distribution converges to the ground truth distribution in an almost sure sense.

Abstract: Various embodiments of a variable geometry quadrotor with a compliant frame are disclosed, which adapts to tight spaces and obstacles by way of passive rotation of its arms.

Abstract: A fabric-based, soft-bodied aerial robot includes contact-reactive perching and embodied impact protection structures while remaining lightweight and streamlined. The aerial robot is operable to 1) pneumatically vary its body stiffness for collision resilience and 2) utilize a hybrid fabric-based, bistable (HFB) grasper to perform passive grasping. When compared to conventional rigid drone frames the soft-bodied aerial robot successfully demonstrates its ability to dissipate impact from head-on collisions and maintain flight stability without any structural damage. Furthermore, in dynamic perching scenarios the HFB grasper is capable to convert impact energy upon contact into firm grasp through rapid body shape conforming in less than 4 ms.

Abstract: Various embodiments of a variable geometry quadrotor with a compliant frame are disclosed, which adapts to tight spaces and obstacles by way of passive rotation of its arms.

Abstract: Various embodiments of a system and associated method for a thrust-vector controlled unmanned aerial and ground vehicle are disclosed herein.

Abstract: Various embodiments for a foldable quad-rotor (FQR) inspired by an origami mechanism are disclosed herein. The FQR can fold its arms during flight to enable aggressive turning maneuvers and operations in cluttered environments. A dynamic model of folding is built for this system with the collected data, and a feedback controller is designed to control the position and orientation of the FQR. Lyapunov stability analysis is conducted to show that the system is stable during arm folding and extension, and motion planning of the FQR is achieved based on a modified minimum-snap trajectory generation method.

Abstract: Various embodiments of a vision-guided unmanned aerial vehicle (UAV) system to identify and collect foreign objects from the surface of a body of water are disclosed herein. A vision system and methodology has been developed to reduce reflections and glare from a water surface to better identify an object for removal. A linearized polarization filter and a specularity-removal algorithm is used to eliminate excessive reflection and glare. A contour-based detection algorithm is implemented for detecting the targeted objects on water surface. Further, the system includes a boundary layer sliding mode control (BLSMC) methodology to reduce and minimize position and velocity errors between the UAV and object in the presence of modeling and parameter uncertainties due to variation in a moving water surface.

Abstract: Various embodiments of a variable geometry quadrotor with a compliant frame are disclosed, which adapts to tight spaces and obstacles by way of passive rotation of its arms.

Abstract: Various embodiments of a system and associated method for a thrust-vector controlled unmanned aerial and ground vehicle are disclosed herein.

Abstract: Various embodiments for a foldable quad-rotor (FQR) inspired by an origami mechanism are disclosed herein. The FQR can fold its arms during flight to enable aggressive turning maneuvers and operations in cluttered environments. A dynamic model of folding is built for this system with the collected data, and a feedback controller is designed to control the position and orientation of the FQR. Lyapunov stability analysis is conducted to show that the system is stable during arm folding and extension, and motion planning of the FQR is achieved based on a modified minimum-snap trajectory generation method.