Related papers: Quadrotor Formation Flying Resilient to Abrupt Veh…
The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight…
Propeller failure is a major cause of multirotor Unmanned Aerial Vehicles (UAVs) crashes. While conventional multirotor systems struggle to address this issue due to underactuation, over-actuated platforms can continue flying with…
In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory.…
Dynamic obstacle avoidance on quadrotors requires low latency. A class of sensors that are particularly suitable for such scenarios are event cameras. In this paper, we present a deep learning -- based solution for dodging multiple dynamic…
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning…
We apply the Newton-Raphson flow tracking controller to aggressive quadrotor flight and demonstrate that it achieves good tracking performance over a suite of benchmark trajectories, beating the native trajectory tracking controller in the…
Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires…
In this paper, we present a novel theoretical framework for online adaptation of Control Barrier Function (CBF) parameters, i.e., of the class K functions included in the CBF condition, under input constraints. We introduce the concept of…
The autonomous operation of small quadcopters moving at high speed in an unknown cluttered environment is a challenging task. Current works in the literature formulate it as a Sense-And-Avoid (SAA) problem and address it by either…
Control barrier functions (CBFs) are an effective model-based tool to formally certify the safety of a system. With the growing complexity of modern control problems, CBFs have received increasing attention in both optimization-based and…
Collision-free flight in cluttered environments is a critical capability for autonomous quadrotors. Traditional methods often rely on detailed 3D map construction, trajectory generation, and tracking. However, this cascade pipeline can…
This paper investigates the application of a Model Predictive Controller (MPC) for the cruise control system of a quadrotor, focusing on hovering point stabilization and reference tracking. Initially, a full-state-feedback MPC is designed…
The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…
We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We create a nonlinear quaternion state model that represents the…
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…
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…
The tendency of a jet to stay attached to a flat or convex surface is called the Coand\u{a} effect and has many potential technical applications. The aim of this thesis is to assess how well Computational Fluid Dynamics can capture it. A…
The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…
It is ubiquitously accepted that during the autonomous navigation of the quadrotors, one of the most widely adopted unmanned aerial vehicles (UAVs), safety always has the highest priority. However, it is observed that the ego airflow…