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Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…
The techniques of precision agriculture include the possibility to execute crop monitoring tasks through the application of Unmanned Aerial Vehicles (UAVs). These platforms are flexible, easy to use and low-cost, and they are the best…
Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…
This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full…
Within the standard framework of quasi-steady flight, this paper derives a speed that realizes the maximal obtainable range per unit of fuel. If this speed is chosen at each instant of a flight plan $h(x)$ giving altitude $h$ as a function…
In this paper, a simple heuristic is proposed for the design of uncertainty aware predictive controllers for nonlinear models involving uncertain parameters. The method relies on Machine Learning-based approximation of ideal deterministic…
To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
This paper proposes a strategy for efficient geometrical verification in unmanned aerial vehicle (UAV) image matching. First, considering the complex transformation model between correspondence set in the image-space, feature points of…
We develop a framework to give upper bounds on the "practical" computational complexity of stability problems for a wide range of nonlinear continuous and hybrid systems. To do so, we describe stability properties of dynamical systems using…
We consider a finite horizon linear discrete time varying system whose input is a random noise with an imprecisely known probability law. The statistical uncertainty is described by a nonnegative parameter a which constrains the anisotropy…
The maximum safe flight speed of a Unmanned Aerial Vehicle (UAV) is an important indicator for measuring its efficiency in completing various tasks. This indicator is influenced by numerous parameters such as UAV localization error,…
This paper presents a method for incorporating control analysis into design optimization for highly-maneuverable aircraft. By studying reachable sets for aircraft dynamics, we ensure that the optimizer will take the aircraft's controlled…
This study presents a comprehensive mathematical framework for modeling the flight dynamics of a six-degree-of-freedom fixed-wing aircraft as a rigid body with three control surfaces: rudder, elevators, and ailerons. The framework consists…
In this paper we consider a robust identification problem for a linear dynamical control system with limited-frequency intervals. In mathematical terms, this is the problem of recovering functions in Hardy spaces. Our purpose is to bound…
This paper proposes a novel and practical framework for safe flight envelope estimation and protection, in order to prevent loss-of-control-related accidents. Conventional analytical envelope estimation methods fail to function efficiently…
Trajectory prediction (TP) is crucial for ensuring safety and efficiency in modern air traffic management systems. It is, for example, a core component of conflict detection and resolution tools, arrival sequencing algorithms, capacity…
The National Airspace System (NAS) is a complex and evolving system that enables safe and efficient aviation. Advanced air mobility concepts and new airspace entrants, such as unmanned aircraft, must integrate into the NAS without degrading…
Accurate mathematical models of aerodynamic properties play an important role in the aerospace field. In some cases, system parameters of an aircraft can be estimated reliably only via flight tests. In order to obtain meaningful…
In this work we are interested in the mean-field formulation of kinetic models under control actions where the control is formulated through a model predictive control strategy (MPC) with varying horizon. The relation between the (usually…