Related papers: Flight Control for UAV Loitering Over a Ground Tar…

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…

Reach-avoid specifications are one of the most common tasks in autonomous aerial vehicle (UAV) applications. Despite the intensive research and development associated with control of aerial vehicles, generating feasible trajectories though…

This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…

Aerial manipulators (AMs) are gaining increasing attention in automated transportation and emergency services due to their superior dexterity compared to conventional multirotor drones. However, their practical deployment is challenged by…

This paper presents the design, implementation, and flight test results of two novel 3D path-following guidance algorithms based on nonlinear model predictive control (MPC), with specific application to fixed-wing small uncrewed aircraft…

It is challenging to model and control a tail-sitter unmanned aerial vehicle (UAV) because its blended wing body generates complicated nonlinear aerodynamic effects, such as wing lift, fuselage drag, and propeller-wing interactions. We…

In this paper we present a learning-based tracking controller based on Gaussian processes (GP) for a fault-tolerant hexarotor in a recovery maneuver. In particular, to estimate certain uncertainties that appear in a hexacopter vehicle with…

In this paper, we tackle the problem of Unmanned Aerial (UA V) path planning in complex and uncertain environments by designing a Model Predictive Control (MPC), based on a Long-Short-Term Memory (LSTM) network integrated into the Deep…

This paper investigates the problem of traffic surveillance using an unmanned aerial vehicle (UAV) and proposes a domain-knowledge-aided airborne ground moving targets tracking algorithm. To improve the accuracy of multiple targets…

This work presents a prototype of a multirotor aerial vehicle capable of precision landing, even under the effects of rotor failures. The manuscript presents the fault-tolerant techniques and mechanical designs to achieve a fault-tolerant…

This paper proposes a joint state-parameter observer-based controller for trajectory tracking of an octocopter unmanned aerial vehicle (OUAV), for transportation of a heavy load with unknown mass and size. The multi-body dynamic model of…

Safety-critical failures often have fatal consequences in aerospace control. Control systems on aircraft, therefore, must ensure the strict satisfaction of safety constraints, preferably with formal guarantees of safe behavior. This paper…

While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

This paper investigates the autonomous control of massive unmanned aerial vehicles (UAVs) for mission-critical applications (e.g., dispatching many UAVs from a source to a destination for firefighting). Achieving their fast travel and low…

The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…

In this paper, we present a controller framework that synthesizes control policies for Jump Markov Linear Systems subject to stochastic mode switches and imperfect mode estimation. Our approach builds on safe and robust methods for Model…

An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…

This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…

Sliding mode control of a launch vehicle during its atmospheric flight phase is studied in the presence of unmatched disturbances. Linear time-varying dynamics of the aerospace vehicle is converted into a systematic formula and then dynamic…

This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…