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This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of…
In this work, we present an approach to supervisory reinforcement learning control for unmanned aerial vehicles (UAVs). UAVs are dynamic systems where control decisions in response to disturbances in the environment have to be made in the…
In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…
In order to address the need for an affordable reduced gravity test platform, this work focuses on the analysis and implementation of atmospheric acceleration tracking with an autonomous aerial vehicle. As proof of concept, the vehicle is…
A Nonlinear PID (NLPID) controller is proposed to stabilize the translational and rotational motion of a 6-DOF UAV quadrotor system and enforce it to track a given trajectory with minimum energy and error. The complete nonlinear model of…
This paper introduces an $\mathcal{L}_1$ adaptive control augmentation for geometric tracking control of quadrotors. In the proposed design, the $\mathcal{L}_1$ augmentation handles nonlinear (time- and state-dependent) uncertainties in the…
When designing a power or CPU constrained device where a four-axis robotic arm is required and access to the Robot Operating System (ROS) is not an option, finding an efficient state space controller for a four-axis arm can be an obstacle.…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
This paper proposes a systematic solution that uses an unmanned aerial vehicle (UAV) to aggressively and safely track an agile target. The solution properly handles the challenging situations where the intent of the target and the dense…
Morphing quadrotors with four external actuators can adapt to different restricted scenarios by changing their geometric structure. However, previous works mainly focus on the improvements in structures and controllers, and existing…
Lane-free vehicle movement has been recently proposed for connected automated vehicles (CAV) due to various potential advantages. One such advantage stems from the fact that incremental changes of the road width in lane-free traffic lead to…
In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
Unmanned Aerial Vehicles (UAVs) have become pivotal in domains spanning military, agriculture, surveillance, and logistics, revolutionizing data collection and environmental interaction. With the advancement in drone technology, there is a…
Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far…
This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…
The advent of rotor-based hopping robots has created very capable hopping platforms with high agility and efficiency, and similar controllability, as compared to their purely flying quadrotor counterparts. Advances in robot performance have…
It has recently been shown that all physical parameters of an Incremental Nonlinear Dynamic Inversion (INDI) controller can be estimated onboard a multirotor within half a second, which is fast enough to do the full identification during a…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…
Recent quadrotors have transcended conventional designs, emphasizing more on foldable and reconfigurable bodies. The state of the art still focuses on the mechanical feasibility of such designs with limited discussions on the tracking…