Related papers: Development of Autonomous Quadcopter
Self-driving cars operate in constantly changing environments and are exposed to a variety of uncertainties and disturbances. These factors render classical controllers ineffective, especially for lateral control. Therefore, an adaptive MPC…
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…
A key challenge in eXplainable Artificial Intelligence is the well-known tradeoff between the transparency of an algorithm (i.e., how easily a human can directly understand the algorithm, as opposed to receiving a post-hoc explanation), and…
The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…
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…
Traditional control methods are inadequate in many deployment settings involving control of Cyber-Physical Systems (CPS). In such settings, CPS controllers must operate and respond to unpredictable interactions, conditions, or failure…
This paper presents the design, implementation, and flight test results of linear quadratic integral regulator (LQRi) based attitude control for a quadcopter UAV. We present the derivation of the mathematical model for the kinematics and…
Provision of some autonomous functions to an agricultural vehicle would lighten the job of the operator but in doing so, the accuracy should not be lost to still obtain an optimal yield. Autonomous navigation of an agricultural vehicle…
The concepts of stability and balance represent many critical problems faced by engineering today. The inverted pendulum on a cart is one such non-linear, unstable, multivariate system whose goal is to determine a suitable control action…
Quadcopters can suffer from loss of propellers in mid-flight, thus requiring a need to have a system that detects single and multiple propeller failures and an adaptive controller that stabilizes the propeller-deficient quadcopter. This…
Intelligent algorithms are recently used in the optimization process in chemical engineering and application of multiphase flows such as bubbling flow. This overview of modeling can be a great replacement with complex numerical methods or…
This paper presents a novel method for assistive load carrying using quadruped robots. The controller uses proprioceptive sensor data to estimate external base wrench, that is used for precise control of the robot's acceleration during…
As the first review in this field, this paper presents an in-depth mathematical view of Intelligent Flight Control Systems (IFCSs), particularly those based on artificial neural networks. The rapid evolution of IFCSs in the last two decades…
This paper explains the integration process of an autonomous quadcopter platform and the design of Arduino based novel software architecture that enables the execution of advanced control laws on low-cost off-the-shelf products based…
Designing and developing Artificial Intelligence controllers on separately dedicated chips have many advantages. This report reviews the development of a real-time fuzzy logic controller for optimizing locomotion control of a two-wheeled…
Fusion of Artificial Neural Networks (ANN) and Fuzzy Inference Systems (FIS) have attracted the growing interest of researchers in various scientific and engineering areas due to the growing need of adaptive intelligent systems to solve the…
Fuzzy critic-based learning forms a reinforcement learning method based on dynamic programming. In this paper, an adaptive critic-based neuro-fuzzy system is presented for an unmanned bicycle. The only information available for the critic…
Wind resistance control is an essential feature for quadcopters to maintain their position to avoid deviation from target position and prevent collisions with obstacles. Conventionally, cascaded PID controller is used for the control of…
Adaptive Neuro-Fuzzy Inference System (ANFIS) was designed to combine the learning capabilities of neural network with the reasoning transparency of fuzzy logic. However, conventional ANFIS architectures suffer from structural complexity,…
Accurate modeling of aerodynamic coefficients is crucial for understanding and optimizing the performance of modern aircraft systems. This paper presents the novel deployment of an Evolving Type-2 Quantum Fuzzy Neural Network (eT2QFNN) for…