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Traffic collision avoidance systems (TCAS) are used in order to avoid incidences of mid-air collisions between aircraft. We present a game-theoretic approach of a TCAS designed for autonomous unmanned aerial vehicles (UAVs). A variant of…
We introduce Phantom Twist, a type of single-propeller UAV designed to achieve low visibility through high-speed spinning and the exploitation of motion blur. We develop a two-stage automated design pipeline that optimizes the placement of…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
This study reports the first measurement of the azimuthal decorrelation between jets with pseudorapidity separation up to five units. The data were accumulated using the D{\O}detector during the 1992--1993 collider run of the Fermilab…
At smaller airports without an instrument approach or advanced equipment, automatic landing of aircraft is a safety-critical task that requires the use of sensors present on the aircraft. In this paper, we study falsification of an…
Aerial manipulators are composed of an aerial multi-rotor that is equipped with a 6-DOF servo robot arm. To achieve precise position and attitude control during the arm's motion, it is critical for the system to have high performance…
Thrust vector control (TVC) is a key mechanism for stabilizing rockets during flight, yet conventional implementations remain costly and technically inaccessible to students and hobbyists. This paper presents the design, fabrication, and…
Designing robust controllers for precise trajectory tracking with quadrotors is challenging due to nonlinear dynamics and underactuation, and becomes harder with flexible cable-suspended payloads that add degrees of freedom and hybrid…
Omnidirectional MAVs are a growing field, with demonstrated advantages for aerial interaction and uninhibited observation. While systems with complete pose omnidirectionality and high hover efficiency have been developed independently, a…
Small multi-rotor unmanned aerial vehicles (UAVs), mainly quadcopters, are nowadays ubiquitous in research on aerial autonomy, including serving as scaled-down models for much larger aircraft such as vertical-take-off-and-lift vehicles for…
Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…
The DARPA Subterranean Challenge is leading the development of robots capable of mapping underground mines and tunnels up to 8km in length and identify objects and people. Developing these autonomous abilities paves the way for future…
Jet-powered vertical takeoff and landing (VTOL) drones require precise thrust estimation to ensure adequate stability margins and robust maneuvering. Small-scale turbojets have become good candidates for powering heavy aerial drones.…
This paper proposed a novel fully-actuated hexacopter. It features a dual-frame passive tilting structure and achieves independent control of translational motion and attitude with minimal actuators. Compared to previous fully-actuated…
Traditional unmanned aerial vehicle (UAV) swarm missions rely heavily on expensive custom-made drones with onboard perception or external positioning systems, limiting their widespread adoption in research and education. To address this…
The use of Micro Aerial Vehicles (MAVs) for inspection and surveillance missions has proved to be extremely useful, however, their usability is negatively impacted by the large power requirements and the limited operating time. This work…
Aerocapture is an orbit insertion technique which uses atmospheric drag from a single pass to decelerate a spacecraft. Compared to conventional propulsive insertion, aerocapture can impart large velocity changes to the spacecraft with…
In this paper, we present the design, simulation and experimental validation of a control architecture for a flying hand, i.e., a system made of an unmanned aerial vehicle, a robotic manipulator and a gripper, which is grasping an object…
Capabilities of long-range flight and vertical take-off and landing (VTOL) are essential for Urban Air Mobility (UAM). Tiltrotor VTOLs have the advantage of balancing control simplicity and system complexity due to their redundant control…
This paper presents an excitation operator based fault separation architecture for a quadrotor unmanned aerial vehicle (UAV) subject to loss of effectiveness (LoE) faults, actuator aging, and load uncertainty. The actuator fault dynamics is…