Related papers: Model Predictive Loitering and Trajectory Tracking…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…
Flapping-fin unmanned underwater vehicle (UUV) propulsion systems provide high maneuverability for naval tasks such as surveillance and terrain exploration. Recent work has explored the use of time-series neural network surrogate models to…
In this study a model pipeline is proposed that combines computer vision with control-theoretic methods and utilizes low cost sensors. The proposed work enables perception-aware motion control for a quadrotor UAV to detect and navigate to…
In this paper we propose an effective vision-based navigation method that allows a multirotor vehicle to simultaneously reach a desired goal pose in the environment while constantly facing a target object or landmark. Standard techniques…
We consider transporting a heavy payload that is attached to multiple multirotors. The current state-of-the-art controllers either do not avoid inter-robot collision at all, leading to crashes when tasked with carrying payloads that are…
In this study, we implement a control method for stabilizing a ballbot that simultaneously follows a reference. A ballbot is a robot balancing on a spherical wheel where the single point of contact with the ground makes it omnidirectional…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
Unmanned aerial vehicle (UAV) with slung load system is a classic air transportation system. In practical applications, the suspension point of the slung load does not always align with the center of mass (CoM) of the UAV due to mission…
We present a bottleneck analysis tool for designing compute systems for autonomous Unmanned Aerial Vehicles (UAV). The tool provides insights by exploiting the fundamental relationships between various components in the autonomous UAV such…
Designing robust controllers for precise trajectory tracking with quadrotors is challenging due to nonlinear dynamics and underactuation, and becomes harder with flexible cable-suspended payloads that add degrees of freedom and hybrid…
In this study, we propose a new sheepdog-inspired control method for a swarm of small unmanned aerial vehicles (UAVs), which predicts the swarm behavior while explicitly accounting for the motion constraints of real robots.…
Reliable positioning services are extremely important for users and devices in mountainous environments as it enables a variety of location-based applications. However, in such environments, the service reliability of conventional wireless…
Over the last few years, the many uses of Unmanned Aerial Vehicles (UAVs) have captured the interest of both the scientific and the industrial communities. A typical scenario consists in the use of UAVs for surveillance or target-search…
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.…
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…
Aircraft that can launch ballistically and convert to autonomous, free flying drones have applications in many areas such as emergency response, defense, and space exploration, where they can gather critical situational data using onboard…
Platooning connected and autonomous vehicles (CAVs) provide significant benefits in terms of traffic efficiency and fuel economy. However, most existing platooning systems assume the availability of pre-determined plans, which is not…
This paper investigates autonomous vehicle (AV) platoon control under uncertain dynamics and intermittent communication, which remains a critical challenge in intelligent transportation systems. To address these issues, this paper proposes…
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…
The Linear Parameter-Varying (LPV) framework enables the construction of surrogate models of complex nonlinear and high-dimensional systems, facilitating efficient stability and performance analysis together with controller design. Despite…