Related papers: Onboard Flight Control of a Small Quadrotor Using …
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
Quadrotors are among the most agile flying robots. Despite recent advances in learning-based control and computer vision, autonomous drones still rely on explicit state estimation. On the other hand, human pilots only rely on a…
In this paper, an schema for controlling the oscillation frequency of a quadrature oscillator is proposed. The method involves controlling the threshold voltage of the PMOS transistors in the inverter through control of the bulk bias…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow…
Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at…
The family of multi-plane phase retrieval sensors, such as the curvature and nonlinear curvature wavefront sensors (WFS), contain tip/tilt information embedded in their signals. We have built a nonlinear curvature WFS to study different…
Vertical optofluidic biosensors based on refractive index sensing promise highest sensitivities at smallest area foot-print. Nevertheless, when it comes to large scale fabrication and application of such sensors, cheap and robust platforms…
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…
Performing acrobatic maneuvers with quadrotors is extremely challenging. Acrobatic flight requires high thrust and extreme angular accelerations that push the platform to its physical limits. Professional drone pilots often measure their…
Monocular optical flow has been widely used to detect obstacles in Micro Air Vehicles (MAVs) during visual navigation. However, this approach requires significant movement, which reduces the efficiency of navigation and may even introduce…
The rapid proliferation of drones requires balancing innovation with regulation. To address security and privacy concerns, techniques for drone detection have attracted significant attention.Passive solutions, such as frame camera-based…
This paper introduces a novel, small form-factor, aerial vehicle research platform for agile object detection, classification, tracking, and interaction tasks. General-purpose hardware components were designed to augment a given aerial…
In this article, we present a control strategy for the problem of safe autonomous docking for a planar floating platform (Slider) that emulates the movement of a satellite. Employing the proposed strategy, Slider approaches a docking port…
This paper presents contributions on nonlinear tracking control systems for a quadrotor unmanned micro aerial vehicle. New controllers are proposed based on nonlinear surfaces composed by tracking errors that evolve directly on the…
With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable…
Bio-inspired methods can provide efficient solutions to perform autonomous landing for Micro Air Vehicles (MAVs). Flying insects such as honeybees perform vertical landings by keeping flow divergence constant. This leads to an exponential…
Optical Flow (OF) is the movement pattern of pixels or edges that is caused in a visual scene by the relative motion between an agent and a scene. OF is used in a wide range of computer vision algorithms and robotics applications. While the…
Superfluid $^4$He is a promising material for optomechanical and electromechanical applications due to its low acoustic loss. Some of the more intriguing aspects of superfluidity -- the macroscopic coherence, topological nature of…
This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…