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Quadruped robots have strong adaptability to extreme environments but may also experience faults. Once these faults occur, robots must be repaired before returning to the task, reducing their practical feasibility. One prevalent concern…
Safe and precise reference tracking is a crucial characteristic of MAVs that have to operate under the influence of external disturbances in cluttered environments. In this paper, we present a NMPC that exploits the fully physics based…
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…
Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base configuration makes them vulnerable to real-world…
This work contributes a novel deep navigation policy that enables collision-free flight of aerial robots based on a modular approach exploiting deep collision encoding and reinforcement learning. The proposed solution builds upon a deep…
This paper proposes a learning-based passive fault-tolerant control (PFTC) method for quadrotor capable of handling arbitrary single-rotor failures, including conditions ranging from fault-free to complete rotor failure, without requiring…
This work considers the problem of intercepting rogue drones targeting sensitive critical infrastructure facilities. While current interception technologies focus mainly on the jamming/spoofing tasks, the challenges of effectively locating…
In the field of autonomous Unmanned Aerial Vehicles (UAVs) landing, conventional approaches fall short in delivering not only the required precision but also the resilience against environmental disturbances. Yet, learning-based algorithms…
In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is introduced. The proposed drone configuration can be controlled similar to a Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the…
Autonomous drone navigation in confined tubular environments remains a major challenge due to the constraining geometry of the conduits, the proximity of the walls, and the perceptual limitations inherent to such scenarios. We propose a…
Inverted landing is a routine behavior among a number of animal fliers. However, mastering this feat poses a considerable challenge for robotic fliers, especially to perform dynamic perching with rapid body rotations (or flips) and landing…
Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…
In cable driven parallel robots (CDPRs), a single cable malfunction usually induces complete failure of the entire robot. However, the lost static workspace (due to failure) can often be recovered through reconfiguration of the cable…
Bearing faults in rotating machinery can lead to significant operational disruptions and maintenance costs. Modern methods for bearing fault diagnosis rely heavily on vibration analysis and machine learning techniques, which often require…
Purpose: This study aims to address the challenges of controlling unstable and nonlinear systems by proposing an adaptive PID controller based on predictive reinforcement learning (PRL-PID), where the PRL-PID combines the advantages of both…
Recent advances in deep learning have provided new data-driven ways of controller design to replace the traditional manual synthesis and certification approaches. Employing neural network (NN) as controllers however, presents its own…
Deep reinforcement learning is becoming increasingly popular for robot control algorithms, with the aim for a robot to self-learn useful feature representations from unstructured sensory input leading to the optimal actuation policy. In…
This paper explores the mathematical modelling and 3D design of a tilt-rotor quadrotor aircraft. The aircraft is a VTOL design and has capacity for one pilot. The design incorporates a part manual part automatic computerised flight control…
A special type of rotary-wing Unmanned Aerial Vehicles (UAV), called Quadcopter have prevailed to the civilian use for the past decade. They have gained significant amount of attention within the UAV community for their redundancy and ease…
This paper aims to examine the potential of using the emerging deep reinforcement learning techniques in flight control. Instead of learning from scratch, we suggest to leverage domain knowledge available in learning to improve learning…