Related papers: Aerial Robot Control in Close Proximity to Ceiling…
Micro unmanned aerial vehicles (mUAV) became very common in recent years. As a result of their widespread usage, when they are flown by hobbyists illegally, crucial risks are imposed and such mUAVs need to be sensed by security systems.…
The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewable sources of lift are sought. One…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
Supporting reliable and seamless mobility for aerial users, such as unmanned aerial vehicles (UAVs), is a key challenge for the next-generation cellular systems. To tackle this challenge, we propose a joint beamforming, user association,…
The capability to autonomously track a non-cooperative target is a key technological requirement for micro aerial vehicles. In this paper, we propose an output feedback control scheme based on deep reinforcement learning for controlling a…
Aerial manipulation aims at combining the manoeuvrability of aerial vehicles with the manipulation capabilities of robotic arms. This, however, comes at the cost of the additional control complexity due to the coupling of the dynamics of…
Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in…
Bio-inspired methods can provide efficient solutions to perform autonomous landing for Micro Air Vehicles (MAVs). Flying insects such as honeybees perform vertical landings by keeping flow divergence constant. This leads to an exponential…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
Quadcopters are versatile aerial robots gaining popularity in numerous critical applications. However, their operational effectiveness is constrained by limited battery life and restricted flight range. To address these challenges,…
As the market for commercially available unmanned aerial vehicles (UAVs) booms, there is an increasing number of small, teleoperated or autonomous aircraft found in protected or sensitive airspace. Existing solutions for removal of these…
This paper participates in the development of a unified approach to the control of aerial vehicles with extended flight envelopes. More precisely, modeling for control purposes of a class of thrust-propelled aerial vehicles subjected to…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission…
Unmanned aircraft systems can perform some more dangerous and difficult missions than manned aircraft systems. In some highly complicated and changeable tasks, such as air combat, the maneuvering decision mechanism is required to sense the…
This paper presents a safety-guaranteed, runtime-efficient imitation learning framework for spacecraft close proximity control. We leverage Control Barrier Functions (CBFs) for safety certificates and Control Lyapunov Functions (CLFs) for…
In various industrial sectors, inspection and maintenance tasks using UAV (Unmanned Aerial Vehicle) require substantial force application to ensure effective adherence and stable contact, posing significant challenges to existing solutions.…
Flexible robots may overcome some of the industry's major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to…
Unmanned Aerial Vehicles (UAVs), in particular Drones, have gained significant importance in diverse sectors, mainly military uses. Recently, we can see a growth in acceptance of autonomous UAVs in civilian spaces as well. However, there is…