Related papers: Adaptive Control Strategy for Constant Optical Flo…
The movements of birds, bats, and other flying species are governed by complex sensorimotor systems that allow the animals to react to stationary environmental features as well as to wind disturbances, other animals in nearby airspace, and…
Autonomous fixed-wing UAV landing based on differential GPS is now a mainstream providing reliable and precise landing. But the task still remains challenging when GPS availability is limited like for military UAVs. We discuss a solution of…
Fluid flows play a central role in scientific and technological development, and many of these flows are characterized by a dominant oscillation, such as the vortex shedding in the wake of nearly all transportation vehicles. The ability to…
Marine waves significantly disturb the unmanned surface vehicle (USV) motion. An unmanned aerial vehicle (UAV) can hardly land on a USV that undergoes irregular motion. An oversized landing platform is usually necessary to guarantee the…
In this paper, we study mixed traffic systems that move along a single-lane ring-road or open-road. The traffic flow forms a platoon, which includes a number of heterogeneous human-driven vehicles (HDVs) together with only one connected and…
Achieving both target accuracy and robustness in dynamic maneuvers with long flight phases, such as high or long jumps, has been a significant challenge for legged robots. To address this challenge, we propose a novel learning-based control…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
Full autonomy for fixed-wing unmanned aerial vehicles (UAVs) requires the capability to autonomously detect potential landing sites in unknown and unstructured terrain, allowing for self-governed mission completion or handling of emergency…
Monitoring crop fields to map features like weeds can be efficiently performed with unmanned aerial vehicles (UAVs) that can cover large areas in a short time due to their privileged perspective and motion speed. However, the need for…
Limited flight distance and time is a common problem for multicopters. We propose a method for finding the optimal speed and sideslip angle of a multicopter flying a given path to achieve either the longest flight distance or time. Since…
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas, which are always subjected to the presence of static and dynamic obstacles. Inspired by the…
Improving endurance is crucial for extending the spatial and temporal operation range of autonomous underwater vehicles (AUVs). Considering the hardware constraints and the performance requirements, an intelligent energy management system…
Computer vision approaches are widely used by autonomous robotic systems to sense the world around them and to guide their decision making as they perform diverse tasks such as collision avoidance, search and rescue, and object…
In this paper, we consider a scenario where an unmanned aerial vehicle (UAV) collects data from a set of sensors on a straight line. The UAV can either cruise or hover while communicating with the sensors. The objective is to minimize the…
Birds and bats are extremely adept flyers: whether in hunting prey, or evading predators, post-stall manoeuvrability is a characteristic of vital importance. Their performance, in this regard, greatly exceeds that of uncrewed aerial…
There is evidence that flying animals such as pigeons, goshawks, and bats use optical flow sensing to enable high-speed flight through forest clutter. This paper discusses the elements of a theory of controlled flight through obstacle…
Multiple parafoil landing is an enabling technology for massive supply delivery missions. However, it is still an open question to design a collision-free, computation-efficient guidance and control method for unpowered parafoils. To…