Related papers: Quad-rotor Flight Simulation in Realistic Atmosphe…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
This paper presents an equivariant reinforcement learning framework for quadrotor unmanned aerial vehicles. Successful training of reinforcement learning often requires numerous interactions with the environments, which hinders its…
Autonomous navigation through unknown environments is a challenging task that entails real-time localization, perception, planning, and control. UAVs with this capability have begun to emerge in the literature with advances in lightweight…
Real-time high-resolution wind predictions are beneficial for various applications including safe manned and unmanned aviation. Current weather models require too much compute and lack the necessary predictive capabilities as they are valid…
This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also shows rapid adaptation to unknown disturbances during runtime.…
This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms designed for a diverse range of indoor and outdoor applications. The proposed UAV design is highly modular in terms of used actuators, sensor…
Many multirotor Unmanned Aerial Systems applications have a critical need for precise position control in environments with strong dynamic external disturbances such as wind gusts or ground and wall effects. Moreover, to maximize flight…
There are many wildfire behaviors of increasing relevance that are outside the forecast capabilities of even the most sophisticated operational fire spread and fire behavior model. The limitations of the operational models are due primarily…
Aerodynamic noise is a limitation for further exploitation of wind energy resources. As this type of noise is caused by the interaction of turbulent flow with the airframe, a detailed resolution of the flow is necessary to obtain an…
Local wind conditions strongly influence drone performance: headwinds increase flight time, crosswinds and wind shear hinder agility in cluttered spaces, while tailwinds reduce travel time. Although adaptive controllers can mitigate…
Simulation environments for Unmanned Aerial Vehicles (UAVs) can be very useful for prototyping user interfaces and training personnel that will operate UAVs in the real world. The realistic operation of such simulations will only enhance…
This paper presents the design of a 6-DOF all-terrain micro aerial vehicle and two control strategies for multimodal flight, which are experimentally validated. The micro aerial vehicle is propelled by four motors and controlled by a single…
Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering…
Reaching fast and autonomous flight requires computationally efficient and robust algorithms. To this end, we train Guidance & Control Networks to approximate optimal control policies ranging from energy-optimal to time-optimal flight. We…
Deep reinforcement learning provides a promising approach for vision-based control of real-world robots. However, the generalization of such models depends critically on the quantity and variety of data available for training. This data can…
We apply the proper orthogonal decomposition (POD) to large eddy simulation data of a wind turbine wake in a turbulent atmospheric boundary layer. The turbine is modeled as an actuator disk. Our analyis mainly focuses on the question…
Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…
This paper presents a novel model of large-size tilt-rotor aircraft, which can operate as a helicopter as well as being capable of transition to fixed-wing flight. Aerodynamics of the dynamic large-size tilt-rotors based on blade element…
Quadrotors are increasingly used in the evolving field of aerial robotics for their agility and mechanical simplicity. However, inherent uncertainties, such as aerodynamic effects coupled with quadrotors' operation in dynamically changing…
This paper focuses on computational prediction of aerodynamic and the flow field characteristics for NASA Common Research Model (CRM) in it's High-Lift (HL) configuration in close proximity to the ground. The URANS simulation with the…