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This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…

Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…

The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…

Tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) have the capability of hovering and performing efficient level flight with compact mechanical structures. We present a unified controller design for such UAVs,…

In this work, we propose a new learning approach for autonomous navigation and landing of an Unmanned-Aerial-Vehicle (UAV). We develop a multimodal fusion of deep neural architectures for visual-inertial odometry. We train the model in an…

Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…

Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…

Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…

Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…

The possible applications and benefits of autonomous Unmanned Aerial Vehicle (UAV) use in urban areas are gaining considerable attention. Before these possibilities can be realized, it is essential that UAVs be able to navigate reliably and…

The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…

While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…

For a class of uncertain systems with large-error sensing, the low-order stable signal corrector and observer are presented for signal correction and uncertainty estimation according to completely decoupling estimation. The signal corrector…

This paper addresses the problem of estimating air velocity and full attitude for unmanned aerial vehicles (UAVs) in GNSS-denied environments using minimal onboard sensing-an interesting and practically relevant challenge for UAV…

This paper describes an approach to building a cost-effective and research grade visual-inertial odometry aided vertical taking-off and landing (VTOL) platform. We utilize an off-the-shelf visual-inertial sensor, an onboard computer, and a…

UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong…

We propose globally exponentially convergent continuous observers for invariant kinematic systems on finite-dimensional matrix Lie groups. Such an observer estimates, from measurements of landmarks, vectors and biased velocity, both the…

Unmanned Aerial Vehicles (UAV) have emerged as versatile platforms, driving the demand for accurate modeling to support developmental testing. This paper proposes data-driven modeling software for UAV. Emphasizes the utilization of…

This paper focuses on the control of a cooperative system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) manipulating an object. The two units are subject to input saturations and collaborate to move the…

The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and…