Related papers: Development of Autonomous Quadcopter
In this paper, we model the planar motion of a quadcopter, and develop a linear model of the same. We perform stability analysis of the open loop system and develop a PD controller for its position control. We compare the closed loop…
A multi-joint enabled robot requires extensive mathematical calculations to determine the end effector's position with respect to the other connective joints involved and their corresponding frames in a specific coordinate system. If a…
A robust auto-landing problem of a Truss-braced Wing (TBW) regional jet aircraft with poor stability characteristics is presented in this study employing a Fuzzy Reinforcement Learning scheme. Reinforcement Learning (RL) has seen a recent…
This paper presents a deep Q-network (DQN)-based gain-scheduling framework for safety-critical quadcopter trajectory tracking. Instead of directly learning control inputs, the proposed approach selects from a finite set of pre-certified…
In high-speed quadcopter racing, finding a single controller that works well across different platforms remains challenging. This work presents the first neural network controller for drone racing that generalizes across physically distinct…
This work primarily focuses on an operator inference methodology aimed at constructing low-dimensional dynamical models based on a priori hypotheses about their structure, often informed by established physics or expert insights. Stability…
Lattice-based motion planning is a hybrid planning method where a plan made up of discrete actions simultaneously is a physically feasible trajectory. The planning takes both discrete and continuous aspects into account, for example action…
This paper presents a comprehensive design process for the integration of a robotic arm into a quadcopter, emphasizing the physical modeling, system integration, and controller development. Utilizing SolidWorks for mechanical design and…
Multi-modality fusion is the guarantee of the stability of autonomous driving systems. In this paper, we propose a general multi-modality cascaded fusion framework, exploiting the advantages of decision-level and feature-level fusion,…
Terrorism has led to many problems in Thai societies, not only property damage but also civilian casualties. Predicting terrorism activities in advance can help prepare and manage risk from sabotage by these activities. This paper proposes…
In this paper, we present an autonomous flight controller for a quadcopter with thrust vectoring capabilities. This UAV falls in the category of multirotors with tilt-motion enabled rotors. Since the vehicle considered is over-actuated in…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
This investigation aims to study different adaptive fuzzy inference algorithms capable of real-time sequential learning and prediction of time-series data. A brief qualitative description of these algorithms namely meta-cognitive fuzzy…
This paper proposes several nonlinear control strategies for trajectory tracking of a quadcopter system based on the property of differential flatness. Its originality is twofold. Firstly, it provides a flat output for the quadcopter…
Data mining techniques can be used to discover useful patterns by exploring and analyzing data and it's feasible to synergitically combine machine learning tools to discover fuzzy classification rules.In this paper, an adaptive Neuro fuzzy…
A Fractional adaptive PID (FPID) controller for a robot manipulator will be proposed. The PID parameters have been optimized by Genetic algorithm. The proposed controller is found robust by means of simulation in a tracking job. The…
We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessarily governed by a stochastic model. We focus on safety…
This paper presents the Adaptive Personalized Control System (APECS) architecture, a novel framework for human-in-the-loop control. An architecture is developed which defines appropriate constraints for the system objectives. A method for…
We design and experimentally evaluate a hybrid safe-by-construction collision avoidance controller for autonomous vehicles. The controller combines into a single architecture the respective advantages of an adaptive controller and a…
In this paper the investigation is placed on the hierarchic neuro-fuzzy systems as a possible solution for biped control. An hierarchic controller for biped is presented, it includes several sub-controllers and the whole structure is…