@article{,

title = {The Catenary Robot: Design and Control of a Cable Propelled by Two Quadrotors},

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

url = {https://youtu.be/3SaKKjl6os0},

doi = {10.1109/LRA.2021.3062603},

issn = {2377-3766},

year  = {2021},

date = {2021-02-26},

urldate = {2021-02-26},

journal = {IEEE Robotics and Automation Letters},

volume = {6},

number = {2},

pages = {3857-3863},

abstract = {Transporting objects using aerial robots has been widely studied in the literature. Still, those approaches always assume that the connection between the quadrotor and the load is made in a previous stage. However, that previous stage usually requires human intervention, and autonomous procedures to locate and attach the object are not considered. Additionally, most of the approaches assume cables as rigid links, but manipulating cables requires considering the state when the cables are hanging. In this work, we design and control a catenary robot. Our robot is able to transport hook-shaped objects in the environment. The robotic system is composed of two quadrotors attached to the two ends of a cable. By defining the catenary curve with five degrees of freedom, position in 3-D, orientation in z-axis, and span, we can drive the two quadrotors to track a given trajectory. We validate our approach with simulations and real robots. We present four different scenarios of experiments. Our numerical solution is computationally fast and can be executed in real-time.},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{tro20periodic,

title = {Resilient Consensus in Robot Swarms With Periodic Motion and Intermittent Communication},

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

url = {https://youtu.be/dj2afGyhBB4},

doi = {10.1109/TRO.2021.3088765},

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

journal = {IEEE Transactions on Robotics},

publisher = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{ral20vi2,

title = {Vision-Based Self-Assembly for Modular Multirotor Structures},

author = {Yehonathan Litman and Neeraj Gandhi and Linh Thi Xuan Phan and David Saldaña},

doi = {10.1109/LRA.2021.3061380},

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {6},

number = {2},

pages = {2202-2208},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{auros18,

title = {Estimating boundary dynamics using robotic sensor networks with pointwise measurements},

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

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

journal = {Autonomous Robots},

volume = {45},

number = {2},

pages = {193--208},

publisher = {Springer},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{9349130,

title = {Resilient Task Allocation in Heterogeneous Multi-Robot Systems},

author = {Siddharth Mayya and Diego S. D’antonio and David Saldaña and Vijay Kumar},

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

doi = {10.1109/LRA.2021.3057559},

year  = {2021},

date = {2021-01-01},

urldate = {2021-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {6},

number = {2},

pages = {1327-1334},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{gandhi2020self,

title = {Self-Reconfiguration in Response to Faults in Modular Aerial Systems},

author = {Neeraj Gandhi and David Saldaña and Vijay Kumar and Linh T. X. Phan},

year  = {2020},

date = {2020-01-01},

urldate = {2020-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {5},

number = {2},

pages = {2522-2529},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{ral19iros,

title = {Design and Control of Aerial Modules for Inflight Self-Disassembly},

author = {David Saldaña and P. M. Gupta and Vijay Kumar},

doi = {10.1109/LRA.2019.2926680},

issn = {2377-3766},

year  = {2019},

date = {2019-10-01},

urldate = {2019-10-01},

journal = {IEEE Robotics and Automation Letters},

volume = {4},

number = {4},

pages = {3410-3417},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{ral19luis,

title = {Design Guarantees for Resilient Robot Formations on Lattices},

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

doi = {10.1109/LRA.2018.2881231},

issn = {2377-3766},

year  = {2019},

date = {2019-01-01},

urldate = {2019-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {4},

number = {1},

pages = {89-96},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{7822915,

title = {Resilient Flocking for Mobile Robot Teams},

author = {Kelsey Saulnier and David Saldaña and Amanda Prorok and George J. Pappas and Vijay Kumar},

doi = {10.1109/LRA.2017.2655142},

year  = {2017},

date = {2017-01-01},

urldate = {2017-01-01},

journal = {IEEE Robotics and Automation Letters},

volume = {2},

number = {2},

pages = {1039-1046},

keywords = {},

pubstate = {published},

tppubtype = {article}

}

@article{ral16,

title = {Predicting Environmental Boundary Behaviors With a Mobile Robot},

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

doi = {10.1109/LRA.2016.2522500},

issn = {2377-3766},

year  = {2016},

date = {2016-07-01},

urldate = {2016-07-01},

journal = {IEEE Robotics and Automation Letters},

volume = {1},

number = {2},

pages = {1133-1139},

keywords = {},

pubstate = {published},

tppubtype = {article}

}