Related papers: End-to-end Analysis and Design of a Drone Flight C…
This paper presents a landing controller for a fixed-wing aircraft during the landing phase, ensuring the aircraft reaches the touchdown point smoothly. The landing problem is converted to a finite-time linear quadratic tracking (LQT)…
PUBLISHED ON IEEE/ASME TRANSACTIONS ON MECHATRONICS, DOI: 10.1109/TMECH.2021.3100150. Ideally, accurate sensor measurements are needed to achieve a good performance in the closed-loop control of mechatronic systems. As a consequence, sensor…
Drones have been considered as an alternative means of package delivery to reduce the delivery cost and time. Due to the battery limitations, the drones are best suited for last-mile delivery, i.e., the delivery from the package…
Climate change and the rapid growth of urban populations are intensifying environmental stresses within cities, making the behavior of urban atmospheric flows a critical factor in public health, energy use, and overall livability. This…
Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…
Drone fleets with onboard cameras coupled with computer vision and DNN inferencing models can support diverse applications. One such novel domain is for one or more buddy drones to assist Visually Impaired People (VIPs) lead an active…
Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…
Quadrotor Morpho-Transition, or the act of transitioning from air to ground through mid-air transformation, involves complex aerodynamic interactions and a need to operate near actuator saturation, complicating controller design. In recent…
Approaching a set goal for a UAV comprises a trajectory plan and a controller design (control after plan problems). The optimal trajectory (reference) is calculated before being tracked with a proper controller. It is believed that the…
Drone security is currently a major topic of discussion among researchers and industrialists. Although there are multiple applications of drones, if the security challenges are not anticipated and required architectural changes are not…
We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon the strengths of reinforcement learning and…
Most reinforcement learning(RL)-based methods for drone racing target fixed, obstacle-free tracks, leaving the generalization to unknown, cluttered environments largely unaddressed. This challenge stems from the need to balance racing speed…
The proliferation of the Internet of Things (IoT) technologies have strengthen the self-monitoring and autonomous characteristics of the sensor networks deployed in numerous application areas. The recent developments of the edge computing…
Although an ever-growing number of applications employ deep learning based systems for prediction, decision-making, or state estimation, almost no certification processes have been established that would allow such systems to be deployed in…
Concept drift detection is crucial for many AI systems to ensure the system's reliability. These systems often have to deal with large amounts of data or react in real-time. Thus, drift detectors must meet computational requirements or…
Dogfighting is a challenging scenario in aerial applications that requires a comprehensive understanding of both strategic maneuvers and the aerodynamics of agile aircraft. The aerial agent needs to not only understand tactically evolving…
Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…
[Context & motivation] Eliciting requirements that are detailed and logical enough to be amenable to formal verification is a difficult task. Multiple tools exist for requirements elicitation and some of these also support formalisation of…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…