arXiv subjects

Jie Tu

Publications and source records attributed to Jie Tu.

3 recordsLinked to original sources

arXiv2023

Roller-Quadrotor: A Novel Hybrid Terrestrial/Aerial Quadrotor with Unicycle-Driven and Rotor-Assisted Turning

The Roller-Quadrotor is a novel quadrotor that combines the maneuverability of aerial drones with the endurance of ground vehicles. This work focuses on the design, modeling, and experimental validation of the Roller-Quadrotor. Flight capabilities are achieved through a quadrotor configuration, with four thrust-providing actuators. Additionally, rolling motion is facilitated by a unicycle-driven and rotor-assisted turning structure. By utilizing terrestrial locomotion, the vehicle can overcome rolling and turning resistance, thereby conserving energy compared to its flight mode. This innovative approach not only tackles the inherent challenges of traditional rotorcraft but also enables the vehicle to navigate through narrow gaps and overcome obstacles by taking advantage of its aerial mobility. We develop comprehensive models and controllers for the Roller-Quadrotor and validate their performance through experiments. The results demonstrate its seamless transition between aerial and terrestrial locomotion, as well as its ability to safely navigate through gaps half the size of its diameter. Moreover, the terrestrial range of the vehicle is approximately 2.8 times greater, while the operating time is about 41.2 times longer compared to its aerial capabilities. These findings underscore the feasibility and effectiveness of the proposed structure and control mechanisms for efficient navigation through challenging terrains while conserving energy.

cs.RO↗

arXiv2023

Catch Planner: Catching High-Speed Targets in the Flight

Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For sequential decision making, we propose a policy search method based on deep reinforcement learning. In order to make catching adaptive and flexible, we propose a trajectory optimization method to jointly optimize the highly coupled catching time and terminal state while considering the dynamic feasibility and safety. We also propose a flexible constraint transcription method to catch targets at any reasonable attitude and terminal position bias. The proposed Catch Planner provides a new paradigm for the combination of learning and planning and is integrated on the quadrotor designed by ourselves, which runs at 100hz on the onboard computer. Extensive experiments are carried out in real and simulated scenes to verify the robustness of the proposed method and its expansibility when facing a variety of high-speed flying targets.

cs.RO↗

arXiv2019

The correspondence formula of Dolbeault complex on pair deformation

Given a holomorphic family of pairs $\{(X_t,E_t)\}$, where each $E_t$ is holomorphic vector bundle over compact complex manifold $X_t$. For small enough $t$, we get a correspondence between the Dolbeault complex of $E_t$-valued $(p,q)$-forms on $X_t$ and the one of $E_0$-valued $(p,q)$-forms on $X_0$.

math.DG↗