Related papers: NeuroBEM: Hybrid Aerodynamic Quadrotor Model
Neural surrogates promise large speedups over classical solvers for physical dynamics but fail silently at sharp dynamical events such as shocks, fronts, and contact. We present hybrid neural world models for physical dynamics: a recipe for…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
In numerical modeling of the Earth System, many processes remain unknown or ill represented (let us quote sub-grid processes, the dependence to unknown latent variables or the non-inclusion of complex dynamics in numerical models) but…
Executing safe and precise flight maneuvers in dynamic high-speed winds is important for the ongoing commoditization of uninhabited aerial vehicles (UAVs). However, because the relationship between various wind conditions and its effect on…
In recent years, several progressive works promote the development of aerial tracking. One of the representative works is our previous work Fast-tracker which is applicable to various challenging tracking scenarios. However, it suffers from…
Non-holonomic vehicle motion has been studied extensively using physics-based models. Common approaches when using these models interpret the wheel/ground interactions using a linear tire model and thus may not fully capture the nonlinear…
Quadrotors with large thrust-to-weight ratios are able to track aggressive trajectories with sharp turns and high accelerations. In this work, we develop a search-based trajectory planning approach that exploits the quadrotor…
Agile quadrotor flight relies on rapidly planning and accurately tracking time-optimal trajectories, a technology critical to their application in the wild. However, the computational burden of computing time-optimal trajectories based on…
Performing acrobatic maneuvers with quadrotors is extremely challenging. Acrobatic flight requires high thrust and extreme angular accelerations that push the platform to its physical limits. Professional drone pilots often measure their…
Quadrotors are one of the popular unmanned aerial vehicles (UAVs) due to their versatility and simple design. However, the tuning of gains for quadrotor flight controllers can be laborious, and accurately stable control of trajectories can…
Trajectory prediction is crucial to advance autonomous driving, improving safety, and efficiency. Although end-to-end models based on deep learning have great potential, they often do not consider vehicle dynamic limitations, leading to…
Vision Transformer and its variants have been adopted in many visual tasks due to their powerful capabilities, which also bring significant challenges in computation and storage. Consequently, researchers have introduced various compression…
Accurate and efficient prediction of aeroengine performance is of paramount importance for engine design, maintenance, and optimization endeavours. However, existing methodologies often struggle to strike an optimal balance among predictive…
How do we enable AI systems to efficiently learn in the real-world? First-principles models are widely used to simulate natural systems, but often fail to capture real-world complexity due to simplifying assumptions. In contrast, deep…
Aerodynamic analysis during aircraft design usually involves methods of varying accuracy and spatial resolution, which all have their advantages and disadvantages. It is therefore desirable to create data-driven models which effectively…
Many aerial tasks involving quadrotors demand both instant reactivity and long-horizon planning. High-fidelity models enable accurate control but are too slow for long horizons; low-fidelity planners scale but degrade closed-loop…
Incorporating computational fluid dynamics in the design process of jets, spacecraft, or gas turbine engines is often challenged by the required computational resources and simulation time, which depend on the chosen physics-based…
Swarm aerial robots are required to maintain close proximity to successfully traverse narrow areas in cluttered environments. However, this movement is affected by the downwash effect generated from other quadrotors in the swarm. This…
This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…
Visual control enables quadrotors to adaptively navigate using real-time sensory data, bridging perception with action. Yet, challenges persist, including generalization across scenarios, maintaining reliability, and ensuring real-time…