Related papers: Optimal Input Design for Autonomous Aircraft
Breakthroughs in aerodynamic optimization have made it possible to develop efficient modes of transport with lesser exploitation of valuable resources. This makes it crucial for technical professionals such as engineers and scientists to…
Engine failure is a recurring emergency in General Aviation and fixed-wing UAVs, often requiring the pilot or remote operator to carry out carefully planned glides to safely reach a candidate landing strip. We tackle the problem of…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
This work considers the optimal covariance steering problem for systems subject to both additive noise and uncertain parameters which may enter multiplicatively with the state and the control. The unknown parameters are modeled as a…
The identification of the interface of an inclusion in a diffusion process is considered. This task is viewed as a parameter identification problem in which the parameter space bears the structure of a shape manifold. A corresponding…
We study discrete-time finite-horizon optimal control problems in probability spaces, whereby the state of the system is a probability measure. We show that, in many instances, the solution of dynamic programming in probability spaces…
An innovative approach of gaining insight into motor skills involved in human body flight is proposed. The key idea is the creation of a model autonomous system capable of virtually performing skydiving maneuvers. A dynamic skydiver model…
This paper presents an adaptive autopilot for fixed-wing aircraft and compares its performance with a fixed-gain autopilot. The adaptive autopilot is constructed by augmenting the autopilot architecture with adaptive control laws that are…
This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…
Aerodynamic inverse design can improve vehicle and aircraft efficiency, but practical design rarely seeks performance alone: vehicle refinement must reduce drag while preserving visual features linked to design language, brand recognition…
This work presents an algorithm for changing from latitudinal to longitudinal formation of autonomous aircraft squadrons. The maneuvers are defined dynamically by using a predefined set of 3D basic maneuvers. This formation changing is…
Aircraft failures alter dynamics, diminishing manoeuvrability. Such manoeuvring flight envelope variations, governed by the aircraft's complex nonlinear dynamics, are unpredictable by pilots and existing flight management systems. To…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
Unmanned aerial vehicles, and multi-rotors in particular, can now perform dexterous tasks in impervious environments, from infrastructure monitoring to emergency deliveries. Autonomous drone racing has emerged as an ideal benchmark to…
This study presents a real-time guidance strategy for an unmanned aerial vehicles (UAVs) that can be used to enhance their flight endurance by utilizing {\sl insitu} measurements of wind speeds and wind gradients. In these strategies,…
A method to compute optimal collision avoidance maneuvers for short-term encounters is presented. The maneuvers are modeled as multiple-impulses to handle impulsive cases and to approximate finite burn arcs associated either with short…
Advances in the Internet of Things are revolutionizing data acquisition, enhancing artificial intelligence and quality of service. Unmanned Aerial Vehicles (UAVs) provide an efficient data-gathering solution across varied environments. This…
This paper proposes a new approach to construct high quality space-filling sample designs. First, we propose a novel technique to quantify the space-filling property and optimally trade-off uniformity and randomness in sample designs in…
Application of UAV in indoor environment is emerging nowadays due to the advancements in technology. UAV brings more space-flexibility in an occupied or hardly-accessible indoor environment, e.g., shop floor of manufacturing industry,…
Consider the problem of interference mitigation in the identification of the dynamics of multidimensional control systems in the class of linear stationary models for single realizations of the observed signals. A concepts uncorrelated…