Related papers: Aerobatic Trajectory Generation for a VTOL Fixed-W…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
This research presents an online path planner for Unmanned Aerial Vehicles (UAVs) that can handle dynamic obstacles and UAV motion constraints, including maximum curvature and desired orientations. Our proposed planner uses a NURBS path…
Optimal collision-free formation control of the unmanned aerial vehicle (UAV) is a challenge. The state-of-the-art optimal control approaches often rely on numerical methods sensitive to initial guesses. This paper presents an innovative…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
Morphing aerial vehicles offer enhanced maneuverability and fuel efficiency compared to fixed-wing configurations. However, the trade-off between performance gains and control cost in dynamic, unsteady maneuvers remains under-explored. This…
This paper presents a trajectory generation method that optimizes a quadratic cost functional with respect to linear system dynamics and to linear input and state constraints. The method is based on continuous-time flatness-based trajectory…
Generating locally optimal UAV-trajectories is challenging due to the non-convex constraints of collision avoidance and actuation limits. We present the first local, optimization-based UAV-trajectory generator that simultaneously guarantees…
In this paper, we present an online method for converting an arbitrary geometric path represented by a sequence of states, generated by any planner (e.g., sampling-based planners like RRT or PRM, search-based planners like ARA*, etc.), into…
This work presents a closed-loop guidance algorithm for six-degrees of freedom spacecraft rendezvous with a passive target flying in an eccentric orbit. The main assumption is that the chaser vehicle has an attitude control system, based on…
This paper carries out the mathematical modeling, simulation, and control law design for a quadrotor with variable-pitch propellers. The use of variable-pitch propeller for thrust variation instead of RPM regulation facilitates generation…
Accurate trajectory prediction (TP) for climbing aircraft is hampered by the presence of epistemic uncertainties concerning aircraft operation, which can lead to significant misspecification between predicted and observed trajectories. This…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
Designing spacecraft trajectories remains challenging in the presence of stochastic effects such as maneuver execution errors and observation uncertainties. Although covariance control and belief-space planning provide useful tools for…
We present an eikonal-based approach that is capable of finding a continuous globally optimal trajectory for an aircraft in a stationary wind field. This minimizes emissions and fuel consumption. If the destination is close to a cut locus…
To aid urban air mobility (UAM), electric vertical takeoff and landing (eVTOL) aircraft are being targeted. Conventional multidisciplinary analysis and optimization (MDAO) can be expensive, while surrogate-based optimization can struggle…
A machine learning method was applied to solve an inverse airfoil design problem. A conditional VAE-WGAN-gp model, which couples the conditional variational autoencoder (VAE) and Wasserstein generative adversarial network with gradient…
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena or intercepting…
In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that…