Related papers: Aerial Robot Control in Close Proximity to Ceiling…
In this paper the problem of guidance formulation for autonomous soft landing of unmanned aerial vehicles on stationary, moving, or accelerating / maneuvering ground vehicles at desired approach angles in both azimuth and elevation is…
Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…
Experimental flight tests are reported about quadrotors UAVs via a recent model-free control (MFC) strategy, which is easily implementable. We show that it is possible to achieve acrobatic rate control of the UAV, which is beyond the…
Ensuring safe autonomy is crucial for deploying aerial robots in real-world applications. However, safety is a multifaceted challenge that must be addressed from multiple perspectives, including navigation in dynamic environments, operation…
Consider an unmanned aerial vehicle (UAV) physically connected to the ground station with a tether operating in a space, tasked with performing precise maneuvers while constrained by the physical limitation of its tether, which prevents it…
In this paper, we present a novel decentralized controller to drive multiple unmanned aerial vehicles (UAVs) into a symmetric formation of regular polygon shape surrounding a mobile target. The proposed controller works for time-varying…
We present a novel controller for fixed-wing UAVs that enables autonomous soaring in an orographic wind field, extending flight endurance. Our method identifies soaring regions and addresses position control challenges by introducing a…
While Approximate Dynamic Programming has successfully been used in many applications involving discrete states and inputs such as playing the games of Tetris or chess, it has not been used in many continuous state and input space…
In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures.…
The emerging low-altitude economy has catalyzed the large-scale deployment of unmanned aerial vehicles (UAVs), driving a paradigm shift in environment monitoring, logistics, and emergency response. However, operating within these…
Carrier landing of aircrafts is a challenge for control due to the existence of nonlinear wind disturbances and the requirements of changing reference trajectories. In this paper, a robust landing control system is presented for carrier…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…
Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…
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…
This paper presents a lifting-wing multirotor UAV that allows long-range flight. The UAV features a lifting wing in a special mounting angle that works together with rotors to supply lift when it flies forward, achieving a reduction in…
This article addresses the visual area coverage problem using a team of Unmanned Aerial Vehicles (UAVs). The UAVs are assumed to be equipped with a downward facing camera covering all points of interest within a circle on the ground. The…
In this article the implementation of a controller and specifically of a Model Predictive Controller (MPC) on an Edge Computing device, for controlling the trajectory of an Unmanned Aerial Vehicle (UAV) model, is examined. MPC requires more…
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinear model predictive control (NMPC) to plan maneuvers across…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
This paper jointly optimizes the flying location and wireless communication transmit power for an unmanned aerial vehicle (UAV) conducting covert operations. This is motivated by application scenarios such as military ground surveillance…