Related papers: HAPD aircraft Uncertain Norm-Bounded Mathematical …
Human motion prediction is essential for tasks such as human motion analysis and human-robot interactions. Most existing approaches have been proposed to realize motion prediction. However, they ignore an important task, the evaluation of…
Unmanned Aerial Vehicles (UAV) can pose a major risk for aviation safety, due to both negligent and malicious use. For this reason, the automated detection and tracking of UAV is a fundamental task in aerial security systems. Common…
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…
An all-electric unmanned aerial system with both VTOL and Fixed wing capabilities is designed and optimized for long range surveillance and relief operations. The UAV is equipped with onboard computers and sensors and is capable of carrying…
Unmanned Aerial Vehicles (UAVs) are a disruptive technology that is transforming a range of industries. Because they operate in the sky, UAVs are able to take advantage of strong Line-of-Sight (LoS) channels for radio propagation, allowing…
This letter investigates the coupled control problem in UAV networks utilizing high-frequency hybrid beamsteering. While phased arrays enable rapid electronic scanning, their finite Field of View (FoV) imposes a fundamental constraint that…
We consider the problem of estimating a vector of unknown constant parameters for a class of hybrid dynamical systems -- that is, systems whose state variables exhibit both continuous (flow) and discrete (jump) evolution. Using a hybrid…
In this paper, we study the robustness of safety properties of a linear dynamical system with respect to model uncertainties. Our paper involves three parts. In the first part, we provide symbolic (analytical) and numerical (representation…
We investigate the unsteady lift response of compliant membrane wings in hovering kinematics by combining analytical inviscid theory with experimental results. An unsteady aerodynamic model is derived for a compliant thin aerofoil immersed…
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,…
Cellular-connected unmanned aerial vehicles (UAVs) are expected to play a major role in various civilian and commercial applications in the future. While existing cellular networks can provide wireless coverage to UAV user equipment (UE),…
An autonomous indoor aerial vehicle requires reliable simul- taneous localization and mapping (SLAM), accurate flight control, and robust path planning for navigation. This paper presents a system level combination of these existing…
Relative pose estimation between fixed-wing unmanned aerial vehicles (UAVs) is treated using a stable and robust estimation scheme. The motivating application of this scheme is that of "handoff" of an object being tracked from one…
This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These…
In most countries, small (<2 kg) and medium (<25 kg) size unmanned aerial vehicles (UAVs) must fly at low altitude, below 120 m, and with permanent radio communications with ground for control and telemetry. These communications links can…
Non-repetitive solid-state LiDAR scanning leads to an extremely sparse measurement regime for detecting airborne UAVs: a small quadrotor at 10-25 m typically produces only 1-2 returns per scan, which is far below the point densities assumed…
Physical motion models offer interpretable predictions for the motion of vehicles. However, some model parameters, such as those related to aero- and hydrodynamics, are expensive to measure and are often only roughly approximated reducing…
One of the main limitations of multirotor UAVs is their short flight time due to battery constraints. A practical solution for continuous operation is to power the drone from the ground via a tether. While this approach has been…
This paper studies a data-driven predictive control for a class of control-affine systems which is subject to uncertainty. With the accessibility to finite sample measurements of the uncertain variables, we aim to find controls which are…
Autonomous motion planning under unknown nonlinear dynamics presents significant challenges. An agent needs to continuously explore the system dynamics to acquire its properties, such as reachability, in order to guide system navigation…