Related papers: Vehicle Parameter Independent Gain Matrix Selectio…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…
In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with failure of two opposing rotors in the high-speed flight…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
The ability to adapt to changing conditions is a key feature of a successful autonomous system. In this work, we use the Recursive Gaussian Processes (RGP) for identification of the quadrotor air drag model online, without the need of…
This paper proposes a joint state-parameter observer-based controller for trajectory tracking of an octocopter unmanned aerial vehicle (OUAV), for transportation of a heavy load with unknown mass and size. The multi-body dynamic model of…
Communication-aware trajectory generation for unmanned aerial vehicles (UAVs) operating in urban environments requires simultaneous consideration of vehicle dynamics, wireless communication quality, obstacle avoidance, and onboard energy…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…
Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach…
This paper synthesizes a gain-scheduled controller to stabilize all possible Linear Parameter-Varying (LPV) plants that are consistent with measured input/state data records. Inspired by prior work in data informativity and LTI…
Conventional Feedback-Linearization-based controller, applied to the tilt-rotor (eight inputs), results in the extensive changes in the tilting angles, which are not expected in practice. To solve this problem, we introduce the novel…
Hybrid unmanned aircraft can significantly increase the potential of micro air vehicles, because they combine hovering capability with a wing for fast and efficient forward flight. However, these vehicles are very difficult to control,…
Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in…
In this letter, we present a model for quadrotor unmanned aerial vehicles (UAVs), including control, communication, and wireless charging. In so doing, we investigate associated energy and battery dynamics. Indeed, energy and battery…
This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…
We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…
We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on $SU(2)\times R^3$, and relate this result to a family of geometric tracking controllers on $SO(3)\times R^3$. The theoretical results…
Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state estimation methods such as Visual Inertial Odometry (VIO) drift…
This work proposes a strategy for organising quadrotors around a payload to enable hovering without external stimuli, together with a MATLAB software for modelling the dynamics of a quadrotor-payload system. Based on geometric concepts, the…
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…