Related papers: Guidance Mechanism for Flexible Wing Aircraft Usin…
Teams of autonomous unmanned aircraft can be used to monitor wildfires, enabling firefighters to make informed decisions. However, controlling multiple autonomous fixed-wing aircraft to maximize forest fire coverage is a complex problem.…
Unmanned aerial vehicles (UAV) are commonly used for missions in unknown environments, where an exact mathematical model of the environment may not be available. This paper provides a framework for using reinforcement learning to allow the…
A promising approach to autonomous driving is machine learning. In such systems, training datasets are created that capture the sensory input to a vehicle as well as the desired response. A disadvantage of using a learned navigation system…
In many situations, Miniature Aerial Vehicles (MAVs) are limited to using only on-board sensors for navigation. This limits the data available to algorithms used for stabilization and localization, and current control methods are often…
Formation flight is when multiple objects fly together in a coordination. Various automatic control methods have been used for the autonomous execution of formation flight of aerial vehicles. In this paper, the capacity of the model…
Aerial manipulation (AM) expands UAV capabilities beyond passive observation to contact-based operations at high altitudes and in otherwise inaccessible environments. Although recent advances show promise, most AM systems are developed in…
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the…
This article presents a new control approach and a dynamic model for engineered flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically inspired control systems in the form of…
This paper investigates the robust nonlinear close formation control problem. It aims to achieve precise position control at dynamic flight operation for a follower aircraft under the aerodynamic impact due to the trailing vortices…
This document describes the architecture and algorithms of a high fidelity fixed wing flight simulator intended to test and validate novel guidance, navigation, and control (GNC) algorithms for autonomous aircraft. It aims to replicate the…
Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…
This paper proposes a geomagnetic and inertial combined navigation approach based on the flexible correction-model predictive control algorithm (Fc-MPC). This approach aims to overcome the limitations of existing combined navigation methods…
Decentralized network theories focus on achieving consensus and in speeding up the rate of convergence to consensus. However, network cohesion (i.e., maintaining consensus) during transitions between consensus values is also important when…
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, however, and poses a high risk of collisions. Even for…
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…
With increasing urban population, there is global interest in Urban Air Mobility (UAM), where hundreds of autonomous Unmanned Aircraft Systems (UAS) execute missions in the airspace above cities. Unlike traditional human-in-the-loop air…
Over the past decades, progress in deployable autonomous flight systems has slowly stagnated. This is reflected in today's production air-crafts, where pilots only enable simple physics-based systems such as autopilot for takeoff, landing,…
The present work is concerned with the shape optimization of flapping wings in forward flight. The analysis is performed by combining a gradient-based optimizer with the unsteady vortex lattice method (UVLM). We describe the UVLM…
The periodic inspection of vessels is a fundamental task to ensure their integrity and avoid maritime accidents. Currently, these inspections represent a high cost for the ship owner, in addition to the danger that this kind of hostile…
The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…