Publications

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2022

PogoDrone: Design, Model, and Control of a Jumping Quadrotor

Zhu, Brian; Xu, Jiawei; Charway, Andrew; Saldaña, David

PogoDrone: Design, Model, and Control of a Jumping Quadrotor Proceedings Article

In: 2022 IEEE International Conference on Robotics and Automation, 2022.

Abstract | BibTeX | Tags: aerial manipulation, aerial robot, quadrotor | Links:

2021

H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF

Xu, Jiawei; D’Antonio, Diego S.; Saldaña, David

H-ModQuad: Modular Multi-Rotors with 4, 5, and 6 Controllable DOF Proceedings Article

In: 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, ISBN: 978-1-7281-9077-8.

Abstract | BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor | Links:

Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot

Cardona, Gustavo A.; D’Antonio, Diego S.; Vasile, Cristian-Ioan; Saldaña, David

Non-Prehensile Manipulation of Cuboid Objects Using a Catenary Robot Proceedings Article

In: 2021.

Abstract | BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:

The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors

D’Antonio, Diego S.; Cardona, Gustavo A.; Saldaña, David

The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors Journal Article

In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 3857-3863, 2021, ISSN: 2377-3766.

Abstract | BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:

Adaptive Control for Cooperative Aerial Transportation Using Catenary Robots

Cardona, Gustavo A.; D’Antonio, Diego S.; Fierro, Rafael; Saldaña, David

Adaptive Control for Cooperative Aerial Transportation Using Catenary Robots Proceedings Article

In: 2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO), pp. 1-8, 2021.

BibTeX | Tags: aerial manipulation, aerial robot, cable, catenary robot, quadrotor | Links:

Finding Structure Configurations for Flying Modular Robots

Gabrich, Bruno; Saldaña, David; Yim, Mark

Finding Structure Configurations for Flying Modular Robots Proceedings Article

In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6970-6976, 2021.

BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:

Vision-Based Self-Assembly for Modular Multirotor Structures

Litman, Yehonathan; Gandhi, Neeraj; Phan, Linh Thi Xuan; Saldaña, David

Vision-Based Self-Assembly for Modular Multirotor Structures Journal Article

In: IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2202-2208, 2021.

BibTeX | Tags: aerial robot, computer vision, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:

2020

Self-Reconfiguration in Response to Faults in Modular Aerial Systems

Gandhi, Neeraj; Saldaña, David; Kumar, Vijay; Phan, Linh T. X.

Self-Reconfiguration in Response to Faults in Modular Aerial Systems Journal Article

In: IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 2522-2529, 2020.

BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms

2019

Design and Control of Aerial Modules for Inflight Self-Disassembly

Saldaña, David; Gupta, P. M.; Kumar, Vijay

Design and Control of Aerial Modules for Inflight Self-Disassembly Journal Article

In: IEEE Robotics and Automation Letters, vol. 4, no. 4, pp. 3410-3417, 2019, ISSN: 2377-3766.

BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:

ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor

Li, Guanrui; Gabrich, Bruno; Saldaña, David; Das, Jnaneshwar; Kumar, Vijay; Yim, Mark

ModQuad-Vi: A Vision-Based Self-Assembling Modular Quadrotor Proceedings Article

In: 2019 International Conference on Robotics and Automation (ICRA), pp. 346-352, 2019.

BibTeX | Tags: aerial robot, computer vision, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links:

2018

A Flying Gripper Based on Cuboid Modular Robots

Gabrich, Bruno; Saldaña, David; Kumar, Vijay; Yim, Mark

A Flying Gripper Based on Cuboid Modular Robots Proceedings Article

In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 7024-7030, 2018, ISSN: 2577-087X.

BibTeX | Tags: aerial manipulation, aerial robot, gripper, modquad, modular robots, multi-rotor, quadrotor | Links:

ModQuad: The Flying Modular Structure that Self-Assembles in Midair

Saldaña, David; Gabrich, Bruno; Li, Guanrui; Yim, Mark; Kumar, Vijay

ModQuad: The Flying Modular Structure that Self-Assembles in Midair Proceedings Article

In: 2018 IEEE International Conference on Robotics and Automation (ICRA), pp. 691-698, 2018, ISSN: 2577-087X.

BibTeX | Tags: aerial robot, modquad, modular robots, multi-rotor, quadrotor, self-reconfiguration algorithms | Links: