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Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…
Modern communication systems need to fulfill multiple and often conflicting objectives at the same time. In particular, new applications require high reliability while operating at low transmit powers. Moreover, reliability constraints may…
Simultaneously accurate and reliable tracking control for quadrotors in complex dynamic environments is challenging. As aerodynamics derived from drag forces and moment variations are chaotic and difficult to precisely identify, most…
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with…
With the rapid growth of autonomous vehicle technologies, effective path-tracking control has become a critical component in ensuring safety and efficiency in complex traffic scenarios. When a high level decision making agent generates a…
Accurate real-time wind vector estimation is essential for enhancing the safety, navigation accuracy, and energy efficiency of unmanned aerial vehicles (UAVs). Traditional approaches rely on external sensors or simplify vehicle dynamics,…
Quadrotors have demonstrated remarkable versatility, yet their full aerobatic potential remains largely untapped due to inherent underactuation and the complexity of aggressive maneuvers. Traditional approaches, separating trajectory…
In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is…
This paper tackles the challenging task of maintaining formation among multiple unmanned aerial vehicles (UAVs) while avoiding both static and dynamic obstacles during directed flight. The complexity of the task arises from its…
Contemporary autopilot systems for unmanned aerial vehicles (UAVs) are far more limited in their flight envelope as compared to experienced human pilots, thereby restricting the conditions UAVs can operate in and the types of missions they…
With the increasing use of drones across various industries, the navigation and tracking of these unmanned aerial vehicles (UAVs) in challenging environments (such as GNSS-denied environments) have become critical issues. In this paper, we…
This paper develops an accurate force control algorithm for series elastic actuators (SEAs) based on a novel force estimation scheme, called transmission force observer (TFOB). The proposed method is designed to improve an inferior force…
This paper investigates the application of Deep Reinforcement (DRL) Learning to address motion control challenges in drones for additive manufacturing (AM). Drone-based additive manufacturing promises flexible and autonomous material…
In this paper, we propose a direct multiobject tracking (MOT) approach for MIMO-radar signals that operates on raw sensor data via variational message passing (VMP). Unlike classical track-before-detect (TBD) methods, which often rely on…
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 presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the…
The notion of safety in multi-agent systems assumes great significance in many emerging collaborative multi-robot applications. In this paper, we present a multi-UAV collaborative target-tracking application by defining bounded inter-UAV…
This paper analyses the robust stability and performance of the Disturbance Observer- (DOb-) based digital motion control systems in discrete-time domain. It is shown that the phase margin and the robustness of the digital motion controller…
In this work, we present an approach to supervisory reinforcement learning control for unmanned aerial vehicles (UAVs). UAVs are dynamic systems where control decisions in response to disturbances in the environment have to be made in the…
Nighttime UAV tracking presents significant challenges due to extreme illumination variations and viewpoint changes, which severely degrade tracking performance. Existing approaches either rely on light enhancers with high computational…