Related papers: Aerobatic Trajectory Generation for a VTOL Fixed-W…
Tilt-rotor aerial robots are more dynamic and versatile than fixed-rotor platforms, since the thrust vector and body orientation are decoupled. However, the coordination of servos and propellers (the allocation problem) is not trivial,…
In this paper, we propose an alternating optimization method to address a time-optimal trajectory generation problem. Different from the existing solutions, our approach introduces a new formulation that minimizes the overall trajectory…
Data driven methods for time series forecasting that quantify uncertainty open new important possibilities for robot tasks with hard real time constraints, allowing the robot system to make decisions that trade off between reaction time and…
Tilt rotor aircraft combine the benefits of both helicopters and fixed wing aircraft, this makes them popular for a variety of applications, including Search and Rescue and VVIP transport. However, due to the multiple flight modes,…
Despite significant analysis of bird flight, generative physics models for flight dynamics do not currently exist. Yet the underlying mechanisms responsible for various flight manoeuvres are important for understanding how agile flight can…
This article presents a new control approach and a dynamic model for engineered flapping flight with many interacting degrees of freedom. This paper explores the applications of neurobiologically inspired control systems in the form of…
Aerodynamic inverse design can improve vehicle and aircraft efficiency, but practical design rarely seeks performance alone: vehicle refinement must reduce drag while preserving visual features linked to design language, brand recognition…
In this paper we propose an algorithm for stabilizing circular formations of fixed-wing UAVs with constant speeds. The algorithm is based on the idea of tracking circles with different radii in order to control the inter-vehicle phases with…
Recent progress in text-to-video generation has achieved remarkable realism, yet fine-grained control over camera motion and orientation remains elusive, especially with extreme trajectories (e.g., a 180-degree turnaround, or looking…
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system…
This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is…
In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…
The specific objective of this paper is to develop a tool that calculates the optimal trajectory of the follower aircraft as it completes a formation rejoin, and then maintains the formation position, defined as a ring of points, until a…
Motion planning under dynamics constraints, i.e, kinodynamic planning, enables safe robot operation by generating dynamically feasible trajectories that the robot can accurately track. For high-DOF robots such as manipulators,…
Flying animals resort to fast, large-degree-of-freedom motion of flapping wings, a key feature that distinguishes them from rotary or fixed-winged robotic fliers with limited motion of aerodynamic surfaces. However, flapping-wing…
The problem of autonomous launch and landing of a tethered rigid aircraft for airborne wind energy generation is addressed. The system operates with ground-based power conversion and pumping cycles, where the tether is repeatedly reeled in…
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
This paper presents an optimal trajectory generation method for 3D overhead cranes by leveraging differential flatness. This framework enables the direct inclusion of complex physical and dynamic constraints, such as nonlinear friction and…
UAV trajectory planning is often done in a two-step approach, where a low-dimensional path is refined to a dynamic trajectory. The resulting trajectories are only locally optimal, however. On the other hand, direct planning in…