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Aggressive Flight 2017

Published on Sep 11, 2016
This video presents an autonomous 250 g quadrotor performing aggressive maneuvers using a qualcomm snapdragon flight and relying only on on-board computation and sensor capabilities. The control planning and estimation tasks are solved based on the information provided by a single camera and an IMU.

Penn’s Falcon robots’ fast flight

Highlights from DARPA’s Fast Light Autonomy competition data collection tests. The fastest flight was from Penn’s “Team Falcon” from the GRASP Lab! Other teams composed of MIT/Draper and SSCI/AV.

The Picobug : a mesoscale robot that can run, fly, and grasp

In this paper we present the flying monkey, a novel robot platform having three main capabilities: walking, grasping, and flight. This new robotic platform merges one of the world’s smallest quadrotor aircraft with a lightweight, single-degree-of-freedom walking mechanism and an SMA-actuated gripper to enable all three functions in a 30g package. The main goal and key contribution of this paper is to design and prototype the flying monkey that has increased mission life and capabilities through the combination of the functionalities of legged and aerial robots. Yash Mulgaonkar, Brandon Araki, Je-sung Koh, Luis Guerrero-Bonilla, Daniel M. Aukes, Anurag Makineni, Michael T. Tolley, Daniela Rus, Robert J. Wood, and Vijay Kumar.

High Speed Navigation For Quadrotors With Limited Onboard Sensing

Sikang Liu, Michael Watterson, Sarah Tang, and Vijay Kumar

Planning and Control of Aggressive Maneuvers for Perching on Inclined and Vertical Surfaces.

Justin Thomas, Giuseppe Loianno, Morgan Pope, Elliot W. Hawkes, Matthew A. Estrada, Hao Jiang, Mark R. Cutkosky, Vijay Kumar.

Smartphones Power Flying Robots (CES 2015)

This video showcases a research collaboration between our group at the University of Pennsylvania and Qualcomm Research in creating autonomous flying robots powered by smartphones. The (750 g, 54 cm diameter) robot is designed and build at Penn. The sensing, sensor fusion, control, and planning are all done on an off-the-shelf Samsung Galaxy S5 phone. The robot senses its environment and estimates its pose using information from the camera and IMU on the phone.

Carters Dam Flight1

Quadrotor flying along the horizontal region of the penstock without external illumination. We collect imagery using the on-board camera and use visual odometry to estimate position along the tunnel axis.

Carters Dam Flight2

Quadrotor flying along the inclined region of the penstock approximately 50 meters into the inclination. We collect imagery using the on-board camera and use visual odometry to estimate position along the tunnel axis.

Carters Dam Flight3

Quadrotor flying along the inclined region of the penstock approximately 15 meters into the inclination. We collect imagery using the on-board camera and use visual odometry to estimate position along the tunnel axis.

Information-Theoretic Mapping

Our research lets ground and aerial robots explore environments in order to build high quality 3D maps. The robots are fully autonomous; no human operator is involved. Work done at the GRASP Lab, University of Pennsylvania and CMU.

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Scalable sWarms of Autonomous Robots and Mobile Sensors (SWARMS) project.

The SWARMS project brings together experts in artificial intelligence, control theory, robotics, systems engineering and biology with the goal of understanding swarming behaviors in nature and applications of biologically-inspired models of swarm behaviors to large networked groups of autonomous vehicles.

20 Robo Swarm

Alex Kushleyev, Daniel Mellinger, and Vijay Kumar. Towards A Swarm of Agile Micro Quadrotors. Robotics: Science and Systems, July 2012

Anonymity in Pattern Formation by Swarms

M. Turpin, N. Michael, and V. Kumar, “CAPT: Concurrent assignment and planning of trajectories for multiple robots,” International Journal of Robotics Research, 2014 (in press).

Automated Creation of Topological Maps in Indoor Environment with a Swarm of Resource-Constrained Mobile Sensors

Automated Creation of Topological Maps in Indoor Environment with a Swarm of Resource-Constrained Mobile Sensors

Rattanachai Ramaithitima, Michael Whitzer, Subhrajit Bhattacharya and Vijay Kumar

Bio-Inspired Swarms of Small Aerial Robots
One of the main challenges in robot swarming arises from the need to design controllers that guarantee safety and motion planners that guarantee collision avoidance. We present a design that is capable of sustaining collisions, controllers that are able to recover from collisions, and simple motion planners that allow the robots to navigate an environment without complete knowledge of the environment. (Yash Mulgaonkar, Luis Guerrero-Bonilla, Anurag Makineni and Vijay Kumar, Published Oct 14, 2016).

Control of formation shape and position/orientation

M. Turpin, N. Michael, and V. Kumar, “Trajectory design and control for aggressive formation flight with quadrotors,” Autonomous Robots, Feb. 2012.

Cooperation in Construction

Quentin Lindsey, Daniel Mellinger and Vijay Kumar, “Construction with quadrotor teams,” Autonomous Robots, 33, (3), 2012.

Design of Small, Safe and Robust Quadrotor Swarms.

In-Flight Formation Control for a Team of Fixed-Wing Aerial Vehicles

In-Flight Formation Control for a Team of Fixed-Wing Aerial Vehicles
Michael Whitzer, James Keller, Subhrajit Bhattacharya, Vijay Kumar,
Trevor Sands, Lee Ritholtz, Adrian Pope, Dean Dickmann

Networks of Leaders and Followers

Autonomous boats caging and manipulating objects

In collaboration with Gaurav Sukhatme, USC.This video is supplementary contents for the RSS 2013 submission of “A Topological Approach to Object Separation and Caging Using a Cable.”

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Aerial Robots for Remote Autonomous Exploration and Mapping
We are interested in exploring the possibility of leveraging an autonomous quadrotor in earthquake-damaged environments through field experiments that focus on cooperative mapping using both ground and aerial robots. Aerial robots offer several advantages over ground robots, including the ability to maneuver through complex three-dimensional (3D) environments and gather data from vantages inaccessible to ground robots. Read More

Collaborative mapping of an earthquake-damaged building via ground and aerial robots

N. Michael, S. Shen, K. Mohta, Y. Mulgaonkar, V. Kumar, K. Nagatani, Y. Okada, S. Kiribayashi, K. Otake, K. Yoshida, K. Ohno, E. Takeuchi, and S. Tadokoro, “Collaborative mapping of an earthquake-damaged building via ground and aerial robots,” J. Field Robotics, vol. 29, no. 5, pp. 832–841, 2012.

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Y-Prize Competition 2013-2014: Robotics

Created from a vast trove of thousands and thousands of newly discovered pieces of footage from the early days of robotics, going back to the early 1980s. The public has never seen most of this footage. Collected from the archives of three preeminent engineers, the footage tells the story of the creation of quadrotors, RHex, CKBots and more.

Produced by Kurtis Films | http://www.kurtisfilms.com
Music by Helen Jane Long: http://www.helenjanelong.com

Y-Prize Competition 2014-2015: Nanotechnology

Y-Prize Competition 2015-2016: Biomedical Engineering
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CPS: Frontier: Collaborative Research: bioCPS for Engineering Living Cells

CPS: Frontier: Collaborative Research: bioCPS for Engineering Living Cells

Calin Belta-Boston University (Lead PI)
Doug Densmore-Boston University (Co-PI)
Vijay Kumar- University of Pennsylvania (PI)
Ron Weiss- Massachusetts Institute of Technology (PI)

Directed Micro Assembly of Passive Particles at Fluid Interfaces Using Magnetic Robots

We combine strategies for passive particle assembly in soft matter with robotics to develop new means of controlled interaction. In capillary assembly, particles distort fluid interfaces and move in directions that minimize the surface area. In particular, they move along principle axes on curved interfaces to sites of high curvature via capillary migration. We propose a robot that serves as a programmable source of fluid curvature and allows the collection of passive particles. When settled on a fluid interface, the magnetic robot distorts the interface, which strongly influences curvature capillary migration. The shape of the robot dictates the interface shape, for example, by imposing high interface curvature near corners, create sites of preferred assembly. This freedom to manipulate interface curvature dynamically and to migrate laterally on the interface creates new possibilities for directed bottom-up particle assemblies and precise manipulation of these complex assembled structures. Since the passive particles can be functionalized to sense, report and interact with their surroundings, this work paves the way to new schemes for creation and control of functionalized micro robots.

Independent Control of Identical Magnetic Robots in Plane

Independent Control of Identical Magnetic Robots in Plane

Denise Wong, Edward Steager, Vijay Kumar

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