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This paper studies the problem of fast and safe aerial payload transport by a single quadcopter in urban areas. The quadcopter payload system (QPS) is considered as a rigid body and modeled with a nonlinear dynamics. The urban area is…
Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…
Quadrotor motion planning in complex environments leverage the concept of safe flight corridor (SFC) to facilitate static obstacle avoidance. Typically, SFCs are constructed through convex decomposition of the environment's free space into…
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…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace with static obstacles, where the coordination relies solely on implicit…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
MAVs have great potential to assist humans in complex tasks, with applications ranging from logistics to emergency response. Their agility makes them ideal for operations in complex and dynamic environments. However, achieving precise…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
For tracking and motion capture (MoCap) of animals in their natural habitat, a formation of safe and silent aerial platforms, such as airships with on-board cameras, is well suited. In our prior work we derived formation properties for…
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…
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…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…
Teams of Unmanned Aerial Vehicles (UAVs) form typical networked cyber-physical systems that involve the interaction of discrete logic and continuous dynamics. This paper presents a hybrid supervisory control framework for the…
This paper systematically studies the cooperative area coverage and target tracking problem of multiple-unmanned aerial vehicles (multi-UAVs). The problem is solved by decomposing into three sub-problems: information fusion, task…
This work presents a distributed method for multi-vehicle coordination based on nonlinear model predictive control (NMPC) and dual decomposition. Our approach allows the vehicles to coordinate in tight spaces (e.g., busy highway lanes or…