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With the rapid development of civil aviation and the significant improvement of people's living standards, taking an air plane has become a common and efficient way of travel. However, due to the flight characteris-tics of the aircraft and…
Previous work has presented both a theoretical foundation for designing terrain park jumps that control landing impact and computer software to accomplish this task. US ski resorts have been reluctant to adopt this more engineered approach…
Throwing is a fundamental skill that enables robots to manipulate objects in ways that extend beyond the reach of their arms. We present a control framework that combines learning and model-based control for prehensile whole-body throwing…
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…
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 work addresses the control and navigation of a simulated two-dimensional electric rocket. The model provides a simplified framework that neglects actuator dynamics and aerodynamic effects while capturing the complexities of…
Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…
We have begun a program of high altitude ballooning at the Indian Institute of Astrophysics, Bangalore. Recent advances in balloons as well as in electronics have made possible scientific payloads at costs accessible to university…
Electroaerodynamic (EAD) propulsion, where thrust is produced by collisions between electrostatically-accelerated ions and neutral air, is a potentially transformative method for indoor flight owing to its silent and solid-state nature.…
We present an experimental analysis on the use of a camera-based approach for high-altitude navigation by associating mapped landmarks from a satellite image database to camera images, and by leveraging inertial sensors between camera…
This paper details a significant milestone towards maturing a buoyant aerial robotic platform, or aerobot, for flight in the Venus clouds. We describe two flights of our subscale altitude-controlled aerobot, fabricated from the materials…
The Constellation Project's planned return to the moon requires numerous landings at the same site. Since the top few centimeters are loosely packed regolith, plume impingement from the Lander ejects the granular material at high…
This paper describes a methodology for learning flight control systems from human demonstrations and interventions while considering the estimated uncertainty in the learned models. The proposed approach uses human demonstrations to train…
The availability of real-world data is a key element for novel developments in the fields of automotive and traffic research. Aerial imagery has the major advantage of recording multiple objects simultaneously and overcomes limitations such…
This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…
We have initiated the High-Altitude Ballooning programme at Indian Institute of Astrophysics, Bangalore, in the year 2011 with the primary purpose of developing and flying low-cost scientific payloads on a balloon-borne platform. The main…
Low-thrust trajectory design relies heavily on repeated evaluations of fuel consumption and transfer feasibility, which require expensive optimal control solutions. In this work, we show these quantities can be accurately approximated by…
The problem of autonomous launch and landing of a tethered rigid aircraft for airborne wind energy generation is addressed. The system operates with ground-based power conversion and pumping cycles, where the tether is repeatedly reeled in…
In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…
In the event of a total loss of thrust, a pilot must identify a reachable landing site and subsequently execute a forced landing. To do so, they must estimate which region on the ground can be reached safely in gliding flight. We call this…