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This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)'s deck in harsh conditions. The trajectory…
Accurate prediction of wind power is essential for the grid integration of this intermittent renewable source and aiding grid planners in forecasting available wind capacity. Spatial differences lead to discrepancies in climatological data…
Accurate aircraft trajectory prediction (TP) in air traffic management systems is confounded by a number of epistemic uncertainties, dominated by uncertain meteorological conditions and operator specific procedures. Handling this…
In response to the gap in considering wind conditions in the bridge inspection using unmanned aerial vehicle (UAV) , this paper proposes a path planning method for UAVs that takes into account the influence of wind, based on the simulated…
The ability to predict wind is crucial for both energy production and weather forecasting. Mechanistic models that form the basis of traditional forecasting perform poorly near the ground. In this paper, we take an alternative data-driven…
In this paper we present a model-based control approach for autonomous flight of kites for wind power generation. Predictive models are considered to compensate for delay in the kite dynamics. We apply Model Predictive Control (MPC), with…
Probabilistic forecasts are typically obtained using state-of-the-art statistical and machine learning models, with model parameters estimated by optimizing a proper scoring rule over a set of training data. If the model class is not…
Airborne Wind Energy is a lightweight technology that allows power extraction from the wind using airborne devices such as kites and gliders, where the airfoil orientation can be dynamically controlled in order to maximize performance. The…
In this paper, we model the trajectory of sea vessels and provide a service that predicts in near-real time the position of any given vessel in 4', 10', 20' and 40' time intervals. We explore the necessary tradeoffs between accuracy,…
Inspired by the wake-surfing nature of animals, this study aims to understand the aerodynamic force variation on a wing surfing in an unsteady 2-D wake. Wind tunnel experiments were conducted using Particle Image Velocimetry (PIV) and force…
Underactuated systems like sea vessels have degrees of motion that are insufficiently matched by a set of independent actuation forces. In addition, the underlying trajectory-tracking control problems grow in complexity in order to decide…
A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…
An approach to control tethered wings for airborne wind energy is proposed. A fixed length of the lines is considered, and the aim of the control system is to obtain figure-eight crosswind trajectories. The proposed technique is based on…
This paper investigates robust tube-based Model Predictive Control (MPC) of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft subject to wind disturbances and model uncertainty. Our approach is based on a Difference of Convex (DC)…
Air traffic operations are strongly influenced by convective weather, and one common response is pathfinder operations, in which a designated aircraft tests the viability of weather-impacted airspace and routes. Despite relatively routine…
Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…
We consider a sequential decision making process, such as renewable energy trading or electrical production scheduling, whose outcome depends on the future realization of a random factor, such as a meteorological variable. We assume that…
Understanding how decision makers balance operational efficiency with environmental and ecological risks is central to vessel navigation. We model vessel speed as a control variable in a constrained optimization framework in which vessel…
Path planning for high-speed unmanned surface vehicles requires more complex solutions to reduce sailing time and save energy. This article proposes a new predictive artificial potential field that incorporates time information and…
It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…