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The integration of Large Language Models (LLMs) into robotic control, including drones, has the potential to revolutionize autonomous systems. Research studies have demonstrated that LLMs can be leveraged to support robotic operations.…
Background: Contract-based Design (CbD) is a valuable methodology for software design that allows annotation of code and architectural components with contracts, thereby enhancing clarity and reliability in software development. It…
Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…
Model predictive control (MPC) is an optimal control strategy where control input calculation is based on minimizing the predicted tracking error over a finite horizon that moves with time. This strategy has an advantage over conventional…
Technological progress paves the way to ever-increasing opportunities for automating city services. This spans from already existing concepts, such as automated shuttles at airports, to more speculative applications, such as fully…
This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…
In this paper, we propose an efficient, receding horizon, local adaptive low-level planner as the middle layer between our original planner and controller. Our method is named as corridor-based model predictive contouring control (CMPCC)…
The rapid evolution of Integrated Circuit (IC) development necessitates innovative methodologies such as code generation to manage complexity and increase productivity. Using the right methodology for generator development to maximize the…
An evolutionary multi-objective aerodynamic design optimization method using the computational fluid dynamics (CFD) simulations incorporating deep neural network (DNN) to reduce the required computational time is proposed. In this approach,…
Model-based design of experiments (MBDOE) is essential for efficient parameter estimation in nonlinear dynamical systems. However, conventional adaptive MBDOE requires costly posterior inference and design optimization between each…
As complex software and systems development projects need models as an important planning, structuring and development technique, models now face issues resolved for software earlier: models need to be versioned, differences captured,…
Motion planning techniques for quadrotors have advanced significantly over the past decade. Most successful planners have two stages: a front-end that determines a path that incorporates geometric (or kinematic or input) constraints and…
Over the past decade, machine learning has demonstrated impressive results, often surpassing human capabilities in sensing tasks relevant to autonomous flight. Unlike traditional aerospace software, the parameters of machine learning models…
As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…
Complex projects developed under the paradigm of model-driven engineering nowadays often involve several interrelated models, which are automatically processed via a multitude of model operations. Modular and incremental construction and…
Accurate machine-learning models for aerodynamic prediction are essential for accelerating shape optimization, yet remain challenging to develop for complex three-dimensional configurations due to the high cost of generating training data.…
The agent-based modeling and simulation (ABMS) paradigm has been used to analyze, reproduce, and predict phenomena related to many application areas. Although there are many agent-based platforms that support simulation development, they…
The Mobile Network Operator (MNO) must select how to delegate Mobile Device (MD) queries to its Mobile Edge Computing (MEC) server in order to maximize the overall benefit of admitted requests with varying latency needs. Unmanned Aerial…
In the past few years, the interest towards the implementation of design-for-demise measures has increased steadily. Most mid-sized satellites currently launched and already in orbit fail to comply with the casualty risk threshold of…
Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…