2025
Motion Planners for Path or Waypoint Following and End-Effector Sway Damping With Dynamic Programming.
IEEE Trans Autom. Sci. Eng., 2025
2024
Chance-Constrained Planning for Dynamically Stable Motion of Reconfigurable Vehicles.
IEEE Trans. Intell. Transp. Syst., May, 2024
Log Loading Automation for Timber-Harvesting Industry.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
2023
Hierarchical Planning and Policy Shaping Shared Autonomy for Articulated Robots.
CoRR, 2023
Trajectory Generation with Dynamic Programming for End-Effector Sway Damping of Forestry Machine.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
Grasp Planning with CNN for Log-loading Forestry Machine.
Proceedings of the IEEE International Conference on Robotics and Automation, 2023
2022
Stability-constrained mobile manipulation planning on rough terrain.
Robotica, 2022
An MPC Formulation on $SO(3)$ for a Quadrotor With Bidirectional Thrust and Nonlinear Thrust Constraints.
IEEE Robotics Autom. Lett., 2022
Turn Decisions for Autonomous Thermalling of Unmanned Aerial Gliders.
J. Intell. Robotic Syst., 2022
Rollover-Free Trajectory Planning for Reconfigurable Vehicles Under Terrain Uncertainty.
Proceedings of the 25th IEEE International Conference on Intelligent Transportation Systems, 2022
Geometric MPC Techniques for Reduced Attitude Control on Quadrotors with Bidirectional Thrust.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Collision and Rollover-Free g<sup>2</sup> Path Planning for Mobile Manipulation.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Assisting Operators of Articulated Machinery with Optimal Planning and Goal Inference.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
2021
Distributed orbit determination and observability analysis for satellite constellations with angles-only measurements.
Autom., 2021
Adaptive model-free formation-tracking controller and observer for collaborative payload transport by four drones.
Proceedings of the IEEE International Symposium on Safety, Security, and Rescue Robotics, 2021
2020
Distributed Model Predictive Control for UAVs Collaborative Payload Transport.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Learning the Latent Space of Robot Dynamics for Cutting Interaction Inference.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2020
Time Optimal Motion Planning with ZMP Stability Constraint for Timber Manipulation.
Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020
2019
Attitude estimation for collision recovery of a quadcopter unmanned aerial vehicle.
Int. J. Robotics Res., 2019
Cascaded Gaussian Processes for Data-efficient Robot Dynamics Learning.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019
2018
Recovery Control for Quadrotor UAV Colliding with a Pole.
Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018
2017
Control, localization and human interaction with an autonomous lighter-than-air performer.
Robotics Auton. Syst., 2017
Quadrotor collision characterization and recovery control.
Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017
2016
Implementation of a leader-follower controller for a skid-steering wheel-legged robot.
Proceedings of the IEEE 14th International Workshop on Advanced Motion Control, 2016
2015
Multi-Camera Tracking and Mapping for Unmanned Aerial Vehicles in Unstructured Environments.
J. Intell. Robotic Syst., 2015
Multi-camera parallel tracking and mapping with non-overlapping fields of view.
Int. J. Robotics Res., 2015
Ground-based experiments towards the interception of non-cooperative space debris with a robotic manipulator.
Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2015
AEROSTABILES: A new approach to HRI researches.
Proceedings of the Tenth Annual ACM/IEEE International Conference on Human-Robot Interaction, 2015
2014
Sampling-based A* algorithm for robot path-planning.
Int. J. Robotics Res., 2014
Towards Full Omnidirectional Depth Sensing Using Active Vision for Small Unmanned Aerial Vehicles.
Proceedings of the Canadian Conference on Computer and Robot Vision, 2014
2013
Posture Reconfiguration and Navigation Maneuvers on a Wheel-Legged Hydraulic Robot.
Proceedings of the Field and Service Robotics, 2013
2012
Conditions for Worm-Robot Locomotion in a Flexible Environment: Theory and Experiments.
IEEE Trans. Biomed. Eng., 2012
Development of Aerobots for Satellite Emulation, Architecture and Art.
Proceedings of the Experimental Robotics, 2012
Energy analysis of worm locomotion on flexible surface.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Adaptive ReactionLess motion with joint limit avoidance for robotic capture of unknown target in space.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
A hybrid particle/grid wind model for realtime small UAV flight simulation.
Proceedings of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012
Experimental validation of locomotion efficiency of worm-like robots and contact compliance.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Step negotiation with wheel traction: a strategy for a wheel-legged robot.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Kinematic control and posture optimization of a redundantly actuated quadruped robot.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Invariant Momentum-tracking Kalman Filter for attitude estimation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2012
Parallel Tracking and Mapping with Multiple Cameras on an Unmanned Aerial Vehicle.
Proceedings of the Intelligent Robotics and Applications - 5th International Conference, 2012
2011
Analysis of Wormlike Robotic Locomotion on Compliant Surfaces.
IEEE Trans. Biomed. Eng., 2011
Adaptive reactionless motion for space manipulator when capturing an unknown tumbling target.
Proceedings of the IEEE International Conference on Robotics and Automation, 2011
2010
Identification of Contact Parameters from Stiff Multi-point Contact Robotic Operations.
Int. J. Robotics Res., 2010
Bounding with Active Wheels and Liftoff Angle Velocity Adjustment.
Int. J. Robotics Res., 2010
Analysis of earthworm-like robotic locomotion on compliant surfaces.
Proceedings of the IEEE International Conference on Robotics and Automation, 2010
2009
Identification of Contact Dynamics Parameters for Stiff Robotic Payloads.
IEEE Trans. Robotics, 2009
2008
Velocity control of a hybrid quadruped bounding robot.
Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008
Control of a fully-actuated airship for satellite emulation.
Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008
2006
Bounding Gait in a Hybrid Wheeled-Leg Robot.
Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006
PAW: a Hybrid Wheeled-leg Robot.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006
A Bipedal Running Robot with one Actuator per Leg.
Proceedings of the 2006 IEEE International Conference on Robotics and Automation, 2006
2005
Optimum grasp planner and vision-guided grasping using a three-finger hand.
Ind. Robot, 2005
Compliance Optimization for Robotic Assemby.
Int. J. Robotics Autom., 2005
Kinematic Variables Estimation using Eye-in-Hand Robot Camera System.
Proceedings of the Second Canadian Conference on Computer and Robot Vision (CRV 2005), 2005
2004
Optimum Grasp of Planar and Revolute Objects with Gripper Geometry Constraints.
Proceedings of the 2004 IEEE International Conference on Robotics and Automation, 2004
2003
Contact Stiffness and Damping Estimation for Robotic Systems.
Int. J. Robotics Res., 2003
2000
Experimental Validation of Contact Dynamics Simulation of Constrained Robotic Tasks.
Int. J. Robotics Res., 2000
1998
A frequency matching algorithm for active damping of macro-micro manipulator vibrations.
Proceedings of the Proceedings 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, 1998
1996
Dynamics simulation of multibody chains on a transputer system.
Concurr. Pract. Exp., 1996
Validation of a dynamics simulation for a structurally flexible manipulator.
Proceedings of the 1996 IEEE International Conference on Robotics and Automation, 1996
1995
Parallel O(log N) algorithms for computation of manipulator forward dynamics.
IEEE Trans. Robotics Autom., 1995
1993
A Parallel Algorithm For Dynamics Simulation Of Multibody Chains-implementation On A Transputer System.
Proceedings of the Proceedings 26th Annual Simulation Symposium, ANSS 1993, 1993
1992
Parallel simulation dynamics for elastic multibody chains.
IEEE Trans. Robotics Autom., 1992
Simulation of flexible-link manipulators: basis functions and nonlinear terms in the motion equations.
Proceedings of the 1992 IEEE International Conference on Robotics and Automation, 1992
1988
Computer simulation of elastic chains using a recursive formulation.
Proceedings of the 1988 IEEE International Conference on Robotics and Automation, 1988