@inproceedings{Zhu2022,

title = {PogoDrone: Design, Model, and Control of a Jumping Quadrotor},

author = {Brian Zhu and Jiawei Xu and Andrew Charway and David Saldaña},

url = {https://arxiv.org/pdf/2204.00207.pdf},

doi = {https://doi.org/10.48550/arXiv.2204.00207},

year  = {2022},

date = {2022-04-01},

urldate = {2022-04-01},

booktitle = {2022 IEEE International Conference on Robotics and Automation},

abstract = {We present a design, model, and control for a novel jumping-flying robot that is called PogoDrone. The robot is composed of a quadrotor with a passive mechanism for jumping. The robot can continuously jump in place or fly like a normal quadrotor. Jumping in place allows the robot to quickly move and operate very close to the ground. For instance, in agricultural applications, the jumping mechanism allows the robot to take samples of soil. We propose a hybrid controller that switches from attitude to position control to allow the robot to fall horizontally and recover to the original position. We compare the jumping mode with the hovering mode to analyze the energy consumption. In simulations, we evaluate the effect of different factors on energy consumption. In real experiments, we show that our robot can repeatedly impact the ground, jump, and fly in a physical environment.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{,

title = {H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF},

author = {Jiawei Xu and Diego S. D’Antonio and David Saldaña},

url = {https://youtu.be/olKYuWPWxHo

https://arxiv.org/pdf/2106.04048.pdf},

doi = {10.1109/ICRA48506.2021.9561016},

isbn = {978-1-7281-9077-8},

year  = {2021},

date = {2021-10-18},

urldate = {2021-10-18},

booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},

abstract = {Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task specification, e.g., increasing the payload. This applies to quadrotors, having a maximum payload and only four controllable degrees of freedom, limiting their adaptability to the task’s variations. We propose a versatile modular robotic system that can increase its payload and degrees of freedom by assembling heterogeneous modules; we call it H-ModQuad. It consists of cuboid modules propelled by quadrotors with tilted propellers that can generate forces in different directions. By connecting different types of modules, an H-ModQuad can increase its controllable degrees of freedom from 4 to 5 and 6. We model the general structure and propose three controllers, one for each number of controllable degrees of freedom. We extend the concept of the actuation ellipsoid to find the best reference orientation that can maximize the performance of the structure. Our approach is validated with experiments using actual robots, showing the independence of the translation and orientation of a structure.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{nokey,

title = {Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot},

author = {Gustavo A. Cardona and Diego S. D’Antonio and Cristian-Ioan Vasile and David Saldaña},

url = {https://youtu.be/Ou6DPlXPE7A},

year  = {2021},

date = {2021-08-13},

urldate = {2021-08-13},

abstract = {Transporting objects using quadrotors with cables has been widely studied in the literature. However, most of those approaches assume that the cables are previously attached to the load by human intervention. In tasks where multiple objects need to be moved, the efficiency of the robotic system is constrained by the requirement of manual labor. Our approach uses a non-stretchable cable connected to two quadrotors, which we call the catenary robot, that fully automates the transportation task. Using the cable, we can roll and drag the cuboid object (box) on planar surfaces. Depending on the surface type, we choose the proper action, dragging for low friction, and rolling for high friction. Therefore, the transportation process does not require any human intervention as we use the cable to interact with the box without requiring fastening. We validate our control design in simulation and with actual robots, where we show them rolling and dragging boxes to track desired trajectories.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{9571068,

title = {Adaptive Control for Cooperative Aerial Transportation Using Catenary Robots},

author = {Gustavo A. Cardona and Diego S. D’Antonio and Rafael Fierro and David Saldaña},

url = {https://youtu.be/MeEGL_PUBx4},

doi = {10.1109/AIRPHARO52252.2021.9571068},

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

booktitle = {2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)},

pages = {1-8},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{finding2021gabrich,

title = {Finding Structure Configurations for Flying Modular Robots},

author = {Bruno Gabrich and David Saldaña and Mark Yim},

doi = {10.1109/IROS51168.2021.9636086},

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {6970-6976},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{icra20luis,

title = {Dense r-robust formations on lattices},

author = {Luis Guerrero-Bonilla and David Saldaña and Vijay Kumar},

doi = {10.1109/ICRA40945.2020.9196683},

year  = {2020},

date = {2020-01-01},

urldate = {2020-01-01},

booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {6633-6639},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{acc20xi,

title = {Modular Robot Formation and Routing for Resilient Consensus},

author = {Xi Yu and Daigo Shishika and David Saldaña and M. Ani Hsieh},

year  = {2020},

date = {2020-01-01},

urldate = {2020-01-01},

booktitle = {2020 American Control Conference (ACC)},

pages = {2464-2471},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{8794056,

title = {ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor},

author = {Guanrui Li and Bruno Gabrich and David Saldaña and Jnaneshwar Das and Vijay Kumar and Mark Yim},

doi = {10.1109/ICRA.2019.8794056},

year  = {2019},

date = {2019-01-01},

urldate = {2019-01-01},

booktitle = {2019 International Conference on Robotics and Automation (ICRA)},

pages = {346-352},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{icra18modquad,

title = {ModQuad: The Flying Modular Structure that Self-Assembles in Midair},

author = {David Saldaña and Bruno Gabrich and Guanrui Li and Mark Yim and Vijay Kumar},

url = {https://youtu.be/t9kXrhDwXf0},

doi = {10.1109/ICRA.2018.8461014},

issn = {2577-087X},

year  = {2018},

date = {2018-05-01},

urldate = {2018-05-01},

booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {691-698},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{icra18gripper,

title = {A Flying Gripper Based on Cuboid Modular Robots},

author = {Bruno Gabrich and David Saldaña and Vijay Kumar and Mark Yim},

url = {https://youtu.be/43RSgWRLhJc},

doi = {10.1109/ICRA.2018.8460682},

issn = {2577-087X},

year  = {2018},

date = {2018-05-01},

urldate = {2018-05-01},

booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {7024-7030},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7962962,

title = {Resilient consensus for time-varying networks of dynamic agents},

author = {David Saldaña and Amanda Prorok and Shreyas Sundaram and Mario F. M. Campos and Vijay Kumar},

doi = {10.23919/ACC.2017.7962962},

year  = {2017},

date = {2017-01-01},

urldate = {2017-01-01},

booktitle = {2017 American Control Conference (ACC)},

pages = {252-258},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7989035,

title = {Distributed multi-robot coordination for dynamic perimeter surveillance in uncertain environments},

author = {Alexander Jahn and Reza Javanmard Alitappeh and David Saldaña and Luciano C. A. Pimenta and Andre G. Santos and Mario F. M. Campos},

doi = {10.1109/ICRA.2017.7989035},

year  = {2017},

date = {2017-01-01},

urldate = {2017-01-01},

booktitle = {2017 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {273-278},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{8206101,

title = {A decentralized algorithm for assembling structures with modular robots},

author = {David Saldaña and Bruno Gabrich and Michael Whitzer and Amanda Prorok and Mario F. M. Campos and Mark Yim and Vijay Kumar},

doi = {10.1109/IROS.2017.8206101},

year  = {2017},

date = {2017-01-01},

urldate = {2017-01-01},

booktitle = {2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {2736-2743},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{8250925,

title = {Cooperative prediction of time-varying boundaries with a team of robots},

author = {David Saldaña and Renato Assunção and M. Ani Hsieh and Mario F. M. Campos and Vijay Kumar},

doi = {10.1109/MRS.2017.8250925},

year  = {2017},

date = {2017-01-01},

urldate = {2017-01-01},

booktitle = {2017 International Symposium on Multi-Robot and Multi-Agent Systems (MRS)},

pages = {9-16},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{icra16perimeter,

title = {Dynamic perimeter surveillance with a team of robots},

author = {David Saldaña and Reza J. Alitappeh and Luciano C. A. Pimenta and Renato Assunção and Mario F. M. Campos},

doi = {10.1109/ICRA.2016.7487740},

year  = {2016},

date = {2016-05-01},

urldate = {2016-05-01},

booktitle = {2016 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {5289-5294},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{saldana2015sbr,

title = {Detecting Latent Variables of Interest in Geo-localized Environments Using an Aerial Robot},

author = {David Saldaña and Ramon Melo and Erickson R. Nascimento and Mario F. M. Campos},

year  = {2015},

date = {2015-01-01},

urldate = {2015-01-01},

booktitle = {Proceedings of the Brazilian Robotics Symposium and Latin American Robotics Symposium (SBR-LARS)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{10.1007/978-3-662-48134-9_1,

title = {Searching for Regions Out of Normal Conditions Using a Team of Robots},

author = {David Saldaña and Luiz Chaimowicz and Mario F. M. Campos},

editor = {Fernando S. Ösorio and Denis Fernando Wolf and Kalinka Castelo Branco and Valdir Grassi Jr. and Marcelo Becker and Roseli" Romero},

isbn = {978-3-662-48134-9},

year  = {2015},

date = {2015-01-01},

urldate = {2015-01-01},

booktitle = {Robotics},

pages = {1--15},

publisher = {Springer Berlin Heidelberg},

address = {Berlin, Heidelberg},

abstract = {Searching for regions in abnormal conditions is a priority in environments susceptible to catastrophes (e.g. forest fires or oil spills). Those disasters usually begin with an small anomaly that may became unsustainable if it is not detected at an early stage. We propose a probabilistic technique to coordinate multiple robots in perimeter searching and tracking, which are fundamental tasks if they are to detect and follow anomalies in an environment. The proposed method is based on a particle filter technique, which uses multiple robots to fuse distributed sensor information and estimate the shape of an anomaly. Complementary sensor fusion is used to coordinate robot navigation and reduce detection time when an anomaly arises. Validation of our approach is obtained both in simulation and with real robots. Five different scenarios were designed to evaluate and compare the efficiency in both exploration and tracking tasks. The results have demonstrated that when compared to state-of-the art methods in the literature, the proposed method is able to search anomalies under uncertainty and reduce the detection time by automatically increasing the number of robots.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7139353,

title = {A distributed multi-robot approach for the detection and tracking of multiple dynamic anomalies},

author = {David Saldaña and Renato Assunção and Mario F. M. Campos},

doi = {10.1109/ICRA.2015.7139353},

year  = {2015},

date = {2015-01-01},

booktitle = {2015 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {1262-1267},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{lars2014,

title = {Searching and Tracking Anomalies with Multiple Robots: A Probabilistic Approach},

author = {David Saldaña and Luiz Chaimowicz and Mario F. M. Campos},

doi = {10.1109/SBR.LARS.Robocontrol.2014.42},

year  = {2014},

date = {2014-10-01},

urldate = {2014-10-01},

booktitle = {2014 Joint Conference on Robotics: SBR-LARS Robotics Symposium and Robocontrol},

pages = {67-72},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}