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EEG decoding systems based on deep neural networks have been widely used in decision making of brain computer interfaces (BCI). Their predictions, however, can be unreliable given the significant variance and noise in EEG signals. Previous…
This work deals with the problem of designing disturbance decupled observers for the estimation of a function of the states in nonlinear systems. Necessary and sufficient conditions for the existence of lower order disturbance decoupled…
Due to the high mobility and easy deployment, unmanned aerial vehicles (UAVs) have attracted much attention in the field of wireless communication and positioning. To meet the challenges of lack of infrastructure coverage, uncertain sensor…
Image-based environment perception is an important component especially for driver assistance systems or autonomous driving. In this scope, modern neuronal networks are used to identify multiple objects as well as the according position and…
Proposals for quantum computing devices are many and varied. They each have unique noise processes that make none of them fully reliable at this time. There are several error correction/avoidance techniques which are valuable for reducing…
The problem of developing distributed control and navigation system for quadrotor UAVs operating in GPS-denied environments is addressed in the paper. Cooperative navigation, marker detection and mapping task solved by a team of multiple…
A new disturbance observer based control scheme is developed for a quadrotor under the concurrent disturbances from a lightweight elastic tether cable and a lumped vertical disturbance. This elastic tether is unusual as it creates a…
This paper considers the fixed-time control problem of a multi-agent system composed of a class of Euler-Lagrange dynamics with parametric uncertainty and a dynamic leader under a directed communication network. A distributed fixed-time…
The output-error method is a mainstay of aircraft system identification from flight-test data. It is the method of choice for a wide range of applications, from the estimation of stability and control derivatives for aerodynamic database…
Due to their capability of acquiring aerial imagery, camera-equipped Unmanned Aerial Vehicles (UAVs) are very cost-effective tools for acquiring traffic information. However, not enough attention has been given to the validation of the…
Autonomous unmanned aerial vehicle (UAV) inertial navigation exhibits an extreme dependency on the availability of global navigation satellite systems (GNSS) signals, without which it incurs in a slow but unavoidable position drift that may…
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…
An adaptive state observer is proposed for a class of overparametrized uncertain linear time-invariant systems without restrictive requirement of their representation in the observer canonical form. It evolves the method of generalized…
Open-set detection is crucial for robust UAV autonomy in air-to-air object detection under real-world conditions. Traditional closed-set detectors degrade significantly under domain shifts and flight data corruption, posing risks to…
This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…
In many situations, Miniature Aerial Vehicles (MAVs) are limited to using only on-board sensors for navigation. This limits the data available to algorithms used for stabilization and localization, and current control methods are often…
This paper presents an adaptive observer-based navigation strategy for spacecraft in Circular Relative Orbit (CRO) scenarios, addressing challenges in proximity operations like formation flight and uncooperative target inspection. The…
Unmanned aerial vehicles (UAV) often rely on GPS for navigation. GPS signals, however, are very low in power and easily jammed or otherwise disrupted. This paper presents a method for determining the navigation errors present at the…
This study investigates how navigation uncertainty affects conflict detection and resolution (CD&R) for uncrewed aircraft in U-space. Position and velocity errors are modelled as zero-mean Gaussian noise consistent with ADS-L accuracy, and…
This paper introduces a system model called pilot-aided simultaneous communication and localisation (PASCAL) and illustrates its performance in the presence of practical gain and phase imperfections. Specifically, we consider the scenario…