Sihao Sun
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Agile and cooperative aerial manipulation of a cable-suspended load Open
Quadrotors can carry slung loads to hard-to-reach locations at high speed. Given that a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate the full pose of a heavy object is a scalable…
Decentralized Aerial Manipulation of a Cable-Suspended Load using Multi-Agent Reinforcement Learning Open
This paper presents the first decentralized method to enable real-world 6-DoF manipulation of a cable-suspended load using a team of Micro-Aerial Vehicles (MAVs). Our method leverages multi-agent reinforcement learning (MARL) to train an o…
Agile and Cooperative Aerial Manipulation of a Cable-Suspended Load Open
Quadrotors can carry slung loads to hard-to-reach locations at high speed. Since a single quadrotor has limited payload capacities, using a team of quadrotors to collaboratively manipulate a heavy object is a scalable and promising solutio…
Modular Adaptive Aerial Manipulation Under Unknown Dynamic Coupling Forces Open
Successful aerial manipulation largely depends on how effectively a\ncontroller can tackle the coupling dynamic forces between the aerial vehicle\nand the manipulator. However, this control problem has remained largely\nunsolved as the exi…
DroneDiffusion: Robust Quadrotor Dynamics Learning with Diffusion Models Open
An inherent fragility of quadrotor systems stems from model inaccuracies and external disturbances. These factors hinder performance and compromise the stability of the system, making precise control challenging. Existing model-based appro…
Laser cladding repair of ultra-high strength steel for critical aircraft structure Open
Ultra-high strength steels are widely used in fatigue critical load carrying aerospace components, such as the landing gear. These steels are able to operate at very high service stresses, but their drawback is that they are fracture sensi…
Fast Loss of Effectiveness Detection on a Quadrotor using Onboard Sensors and a Kalman Estimation Approach Open
This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman estimator estimates a stochastic effectiveness factor for every actuator…
Nonlinear MPC for Full-Pose Manipulation of a Cable-Suspended Load using Multiple UAVs Open
In this work, we propose a centralized control method based on nonlinear model predictive control to let multiple UAVs manipulate the full pose of an object via cables. At the best of the authors knowledge this is the first method that tak…
View article: Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight
Agilicious: Open-source and open-hardware agile quadrotor for vision-based flight Open
Autonomous, agile quadrotor flight raises fundamental challenges for robotics research in terms of perception, planning, learning, and control. A versatile and standardized platform is needed to accelerate research and let practitioners fo…
View article: Model Predictive Contouring Control for Time-Optimal Quadrotor Flight
Model Predictive Contouring Control for Time-Optimal Quadrotor Flight Open
In this article, we tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task—where a global time-optimal trajectory is generated—an…
View article: A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight Open
Accurate trajectory-tracking control for quadrotors is essential for safe navigation in cluttered environments. However, this is challenging in agile flights due to nonlinear dynamics, complex aerodynamic effects, and actuation constraints…
View article: Nonlinear MPC for Quadrotor Fault-Tolerant Control
Nonlinear MPC for Quadrotor Fault-Tolerant Control Open
The mechanical simplicity, hover capabilities, and high agility of quadrotors lead to a fast adaption in the industry for inspection, exploration, and urban aerial mobility. On the other hand, the unstable and underactuated dynamics of qua…
Perception-Aware Perching on Powerlines With Multirotors Open
Multirotor aerial robots are becoming widely used for the inspection of\npowerlines. To enable continuous, robust inspection without human intervention,\nthe robots must be able to perch on the powerlines to recharge their batteries.\nHigh…
Autonomous Quadrotor Flight Despite Rotor Failure With Onboard Vision Sensors: Frames vs. Events Open
Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on ex…
View article: Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors
Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors Open
Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile qu…
Incremental fault-tolerant control for a hybrid quad-plane UAV subjected to a complete rotor loss Open
Quad-plane is a popular type of electric vertical and takeoff/landing (eVTOL) vehicle that hybridizes a quadrotor and a fixed-wing airplane. However, the mechanical simplicity of a quad-plane also makes it vulnerable to rotor failures. Whe…
View article: Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors
Performance, Precision, and Payloads: Adaptive Nonlinear MPC for Quadrotors Open
Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile qu…
View article: A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight
A Comparative Study of Nonlinear MPC and Differential-Flatness-Based Control for Quadrotor Agile Flight Open
Accurate trajectory tracking control for quadrotors is essential for safe navigation in cluttered environments. However, this is challenging in agile flights due to nonlinear dynamics, complex aerodynamic effects, and actuation constraints…
View article: Model Predictive Contouring Control for Time-Optimal Quadrotor Flight
Model Predictive Contouring Control for Time-Optimal Quadrotor Flight Open
We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control …
View article: Model Predictive Contouring Control for Near-Time-Optimal Quadrotor Flight.
Model Predictive Contouring Control for Near-Time-Optimal Quadrotor Flight. Open
We tackle the problem of flying time-optimal trajectories through multiple waypoints with quadrotors. State-of-the-art solutions split the problem into a planning task - where a global, time-optimal trajectory is generated - and a control …
View article: NeuroBEM: Hybrid Aerodynamic Quadrotor Model
NeuroBEM: Hybrid Aerodynamic Quadrotor Model Open
Quadrotors are extremely agile, so much in fact, that classic first-principle-models come to their limits. Aerodynamic effects, while insignificant at low speeds, become the dominant model defect during high speeds or agile maneuvers. Accu…
View article: NeuroBEM: Hybrid Aerodynamic Quadrotor Model
NeuroBEM: Hybrid Aerodynamic Quadrotor Model Open
Quadrotors are extremely agile, so much in fact, that classic first-principle-models come to their limits. Aerodynamic effects, while insignificant at low speeds, become the dominant model defect during high speeds or agile maneuvers. Accu…
Fast Fault Detection on a Quadrotor using Onboard Sensors and a Kalman Filter Approach Open
This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman filter estimator estimates a stochastic effectiveness factor for every a…
Upset Recovery Control for Quadrotors Subjected to a Complete Rotor Failure from Large Initial Disturbances Open
This study has developed a fault-tolerant controller that is able to recover\na quadrotor from arbitrary initial orientations and angular velocities, despite\nthe complete failure of a rotor. This cascaded control method includes a\npositi…
Spray process for in situ synthesizing Ti(C,N)-TiB<sub>2</sub>-Al<sub>2</sub>O<sub>3</sub> composite ceramic coatings Open
Using core wires with Ti-B4C-C as core and Al as strip materials, Ti(C,N)-TiB2-Al2O3 composite ceramic coatings were prepared on 45 steel substrates by the reactive arc spray technology. The influence of spray voltage, current, gas pressur…