Related papers: Formation Tracking for a Multi-Auv System Based on…
Recent advances in multi-agent systems manipulation have demonstrated a rising demand for the implementation of multi-UAV systems in urban areas which are always subjected to the presence of static and dynamic obstacles. The focus of the…
Micro Autonomous Surface Vehicles (MicroASVs) offer significant potential for operations in confined or shallow waters and swarm robotics applications. However, achieving precise and robust control at such small scales remains highly…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
This paper presents a fault-tolerant control for the trajectory tracking of autonomous underwater vehicles (AUVs) against thruster failures. We formulate faults in AUV thrusters as discrete switching events during a UAV mission, and develop…
A multi-unmanned surface vessel (USV) formation control system is established on a novel platform composed of three 1.2 meter-long hydraulic jet propulsion surface vessels, a differential GPS reference station, and inter-vessel Zigbee…
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…
In this paper an adaptive sliding mode control approach for a quadrotor stabilization and trajectory tracking is presented. The closed loop control consists of three parts; the first part is quadrotor altitude and attitude stabilization,…
Ocean hazardous spills and search and rescue incidents are more prevalent as maritime activities increase across all sectors of society. However, emergency response time remains a factor due to a lack of information to accurately forecast…
In recent years, autonomous underwater vehicle (AUV) swarms are gradually becoming popular and have been widely promoted in ocean exploration or underwater tracking, etc. In this paper, we propose a multi-AUV cooperative underwater…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
Controlling of a flapping flight is one of the recent research topics related to the field of Flapping Wing Micro Air Vehicle (FW MAV). In this work, an adaptive control system for a four-wing FW MAV is proposed, inspired by its advanced…
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The control approach exploits the inherent cascaded structure of…
Formation maintenance with varying number of drones in narrow environments hinders the convergence of planning to the desired configurations. To address this challenge, this paper proposes a formation planning method guided by Deformable…
Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters, however, are relatively sensitive to noises and…
This paper presents a comprehensive modeling and control framework for a low-cost multirotor hybrid aerial-aquatic vehicle (MHAUV) capable of seamless air-water transitions. A hybrid dynamics model is proposed to account for the distinct…
Multi-vehicle coordinated decision making and control can improve traffic efficiency while guaranteeing driving safety. Formation control is a typical multi-vehicle coordination method in the multi-lane scenario. Among the existing…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…