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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…
Agile flights of autonomous quadrotors in cluttered environments require constrained motion planning and control subject to translational and rotational dynamics. Traditional model-based methods typically demand complicated design and heavy…
In this work, we present a novel approach to augment a model-based control method with a reinforcement learning (RL) agent and demonstrate a swing-up maneuver with a suspended aerial manipulation platform. These platforms are targeted…
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…
Take-off and landing are the most important maneuvers for an aircraft's flight. Deployment for small fixed-wing aircraft is usually made by hand but when payload increases, take-off, and landing maneuvers are then performed on a runway…
We present FlightDiffusion, a diffusion-model-based framework for training autonomous drones from first-person view (FPV) video. Our model generates realistic video sequences from a single frame, enriched with corresponding action spaces to…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also…
Human-in-the-loop aims to train an accurate prediction model with minimum cost by integrating human knowledge and experience. Humans can provide training data for machine learning applications and directly accomplish tasks that are hard for…
A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a…
Transition control poses a critical challenge in Vertical Take-Off and Landing Unmanned Aerial Vehicle (VTOL UAV) development due to the tilting rotor mechanism, which shifts the center of gravity and thrust direction during transitions.…
When pushing the speed limit for aggressive off-road navigation on uneven terrain, it is inevitable that vehicles may become airborne from time to time. During time-sensitive tasks, being able to fly over challenging terrain can also save…
Analyzing student behavior in educational scenarios is crucial for enhancing teaching quality and student engagement. Existing AI-based models often rely on classroom video footage to identify and analyze student behavior. While these…
By collecting the data of eyeball movement of pilots, it is possible to monitor pilot's operation in the future flight in order to detect potential accidents. In this paper, we designed a novel SVS system that is integrated with an eye…
Manipulation has long been a challenging task for robots, while humans can effortlessly perform complex interactions with objects, such as hanging a cup on the mug rack. A key reason is the lack of a large and uniform dataset for teaching…
Background Analyzing kinematic and video data can help identify potentially erroneous motions that lead to sub-optimal surgeon performance and safety-critical events in robot-assisted surgery. Methods We develop a rubric for identifying…
The main goal of the present research is to make a summary of analytical equations that can be found to calculate a swing-by maneuver in the three-dimensional space. Analytical equations based in the patched conics approximation are showed…
In this paper, we study the control design of an automatic crosswind stabilization system for a novel, buoyantly-assisted aerial transportation vehicle. This vehicle has several advantages over other aircraft including the ability to…
Moving in complex environments is an essential capability of intelligent mobile robots. Decades of research and engineering have been dedicated to developing sophisticated navigation systems to move mobile robots from one point to another.…
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…