Related papers: Quad-rotor Flight Simulation in Realistic Atmosphe…
Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…
Unsteady aerodynamic models are necessary to accurately simulate forces and develop feedback controllers for wings in agile motion; however, these models are often high dimensional or incompatible with modern control techniques. Recently,…
The introduction of automated flight control and management systems have made possible aircraft designs that sacrifice arodynamic stability in order to incorporate stealth technology intro their shape, operate more efficiently, and are…
The implementation of Urban Air Mobility represents a complex challenge in aviation due to the high degree of innovation required across various domains to realize it. From the use of advanced aircraft powered by novel technologies, the…
When pushing the speed limit for aggressive off-road navigation on uneven terrain, it is inevitable that vehicles may become airborne from time to time. During time-sensitive tasks, being able to fly over challenging terrain can also save…
This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
This paper presents a novel modeling approach for unsteady aircraft airflow, leveraging the Lorenz attractor framework. The proposed model is based on the force distribution exerted by a lift-generating wing on the surrounding fluid. It…
Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…
The design requirement for flight visual simulation system is studied and the overall structure and development process are proposed in this paper. Through the construction of 3D scene model library and aircraft model, the rendering and…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
This study presents a comprehensive evaluation of dynamic aerodynamic derivatives during aircraft transition phases using advanced CFD simulations and forced oscillation testing. Two case studies are examined: a three dimensional fighter…
This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…
This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a…
Unsteady aerodynamic effects can have a profound impact on aerial vehicle flight performance, especially during agile maneuvers and in complex aerodynamic environments. In this paper, we present a real-time planning and control approach…
Accurately predicting aerothermal behavior is paramount for the effective design of hypersonic vehicles, as aerodynamic heating plays a pivotal role in influencing performance metrics and structural integrity. This study introduces a…
This paper presents a novel trajectory tracker for autonomous quadrotor navigation in dynamic and complex environments. The proposed framework integrates a distributional Reinforcement Learning (RL) estimator for unknown aerodynamic effects…
The extraordinary aerial agility of hummingbirds and insects continues to inspire the design of flapping-wing drones. To replicate and analyze such flight, computational fluid dynamics (CFD) simulations that couple flow solvers with rigid…
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…