DoubleBee: A Hybrid Aerial-Ground Robot with Two Active Wheels [IROS 2023 Best Entertainment Paper] Muqing Cao 2024-01-30 | Introducing Doublebee, a novel hybrid aerial-ground robot that can fly, walk, crawl, and climb steep and rough terrain. Double-Bee exploits the high energy efficiency of a bicopter configuration in aerial mode, and enjoys the low power consumption of a two-wheel self-balancing robot on the ground. Furthermore, a novel decoupled control scheme is designed, where the attitude of the robot is controlled using thrusts, and the translational motion is realized using wheels. Challenging tasks in indoor and outdoor environments demonstrate the capability of DoubleBee to traverse unstructured environments. Preprint: http://arxiv.org/abs/2303.05075
[IEEE T-SMC] Distributed Control of Multi-Robot Sweep Coverage with Unknown Workload Distribution Muqing Cao 2023-06-10 | Supplementary material for the paper accepted by IEEE Transactions on System, Man and Cybernetics: Systems (IEEE T-SMC).TITLE: Distributed Control of Multi-Robot Sweep Coverage Over A Region with Unknown Workload DistributionABSTRACT: In this paper, we consider the problem of using a multi-robot system to conduct sweep coverage over a region with uneven and unknown workload distribution. Uneven workload distribution means that a robot has to spend different amounts of time covering a unit area at different locations in the region. Unknown workload distribution means that the amount of workload at any location is unknown prior to the operation, hence online sensing and allocation of workload is needed for better efficiency. In this work, the entire region is separated into multiple stripes, and a discrete-time distributed workload allocation algorithm is used to allocate workload on a stripe to each robot. We propose a new algorithm that addresses the limited sensor range of robots, which is an essential constraint in applications such as agricultural spraying and building inspection. The stability analysis and error bound of the proposed algorithm are also provided. Realistic simulations and actual flight experiments using UAVs are carried out to demonstrate the practicality and validate the theoretical results.
[RSS 2023] Path Planning for Multiple Tethered Robots Using Topological Braids Muqing Cao 2023-04-29 | Video for the paper accepted in Robotics: Science and Systems (RSS) 2023Github Repo: github.com/caomuqing/tethered_robots_path_planningAbstract: Path planning for multiple tethered robots is a challenging problem due to the complex interactions among the cables and the possibility of severe entanglements. Previous works on this problem either consider idealistic cable models or provide no guarantee for entanglement-free paths. In this work, we present a new approach to address this problem using the theory of braids. By establishing a topological equivalence between the physical cables and the space-time trajectories of the robots, and identifying particular braid patterns that emerge from the entangled trajectories, we obtain the key finding that all complex entanglements stem from a finite number of interaction patterns between 2 or 3 robots. Hence, non-entanglement can be guaranteed by avoiding these interaction patterns in the trajectories of the robots. Based on this finding, we present a graph search algorithm using the permutation grid to efficiently search for a feasible topology of paths and reject braid patterns that result in an entanglement. We demonstrate that the proposed algorithm can achieve 100% goal-reaching capability without entanglement for up to 10 drones with a slack cable model in a high-fidelity simulation platform. The practicality of the proposed approach is verified using three small tethered UAVs in indoor flight experiments.
[IEEE T-RO] Neptune: Non-entangling Trajectory Planning for Multiple Tethered Unmanned Vehicles Muqing Cao 2023-03-08 | Paper accepted in IEEE Transactions on Robotics (T-RO)Preprint: arxiv.org/abs/2212.01536
NTU Campus View: Seasons in the Air (Aerial views of Nanyang Technological University, Singapore) Muqing Cao 2016-06-11 | This video demonstrates the wonderful views of Nanyang Technological University, Singapore, from the sky. It is filmed and compiled by NTU Aerospace Society, with the technical support from UAV Research Lab from the School of Mechanical and Aerospace Engineering (MAE). It is filmed using 3DRobotics Solo quad-copter.
See NJC From Above Aerial View of National Junior College, Singapore Muqing Cao 2016-01-20 | This video offers a different angle of view of the campus of National Junior College, Singapore. It is made by NTU Aerospace Society using a quadcopter with Gopro camera.Visit NTU Aerospace Society's FB page: facebook.com/NTUAerospace?ref=bookmarks
NTU FlyDay 2015.10.24 Full Version Muqing Cao 2015-10-25 | NTU Aerospace Society Flying Session 2015.10.24， without editing.Filmed by Muqing, flown by Lu Zhen and Muqing.Background Music: 周杰伦《爱的飞行日记》
NTU Aerospace Society FlyDay 2015.10.24 Muqing Cao 2015-10-25 | NTU Aerospace Society flying session on 24th Oct 2015, we flew two quads at the same time.
NTU FlyDays Hall1 & 6 Muqing Cao 2015-03-22 | This Video is taken by Muqing from NTU Aerospace Society.Check out the amazing aerial view of NTU in FULL: youtube.com/watch?v=m8St1yL2Lh0
NTU FLY DAY 2.2 Graduate Hall Muqing Cao 2015-02-05 | This Video features the view near graduate hall of Nanyang Technological University, Singapore, filmed by Cao Muqing from NTU Aerospace Society.
NTU FLY DAY2.1 F15 in the eye of Iris Muqing Cao 2015-02-04 | This Video features a quad filming a model F-15 plane flying in Nanyang technological university. Video made by Muqing from NTU Aerospace Society.
NTU FLY DAY 2.0 Muqing Cao 2015-02-01 | A corner of Nanyang Technological University, Singapore, filmed by Cao Muqing from NTU Aerospace Society.
《厦外拾光》 航拍厦门外国语学校 To XMFLS Muqing Cao 2015-01-10 | 作为厦外校友，我为厦外献上这样一份新年礼物。此视频以飞行器的视角欣赏厦门外国语学校海沧分部的景致。视频由厦门七海航拍制作，使用大疆航拍无人机拍摄。特别感谢厦外宣传部以及陈柏尧同学的支持与帮助。
See NTU From Above Amazing Aerial View of Nanyang Technological University, Singapore Muqing Cao 2015-01-05 | This video offers a different angle of view of the beautiful campus of Nanyang Technological University, Singapore. It is made by NTU Aerospace Society using a quadcopter with Gopro camera.Visit NTU Aerospace Society's FB page: facebook.com/NTUAerospace?ref=bookmarksFor aerial filming service in campus, contact caomuqing@163.comAerial filming: Cao Muqing, Hoang Minh ChungMovie Editing: Cao MuqingSpecial Thanks: Hambali Mohd, Li Jingning, Li Junru, Liu Haotian
Copy of NTU FLY DAYS Muqing Cao 2014-11-09 | Taken by Muqing from NTU Aerospace Society, with the 3DR IRIS+
Aerial Video in NTU, Singapore taken by 3DR IRIS+ Muqing Cao 2014-11-07 | Video by Muqing from NTU Aerospace Society
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