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In this paper, we propose an unmanned aerial vehicle (UAV) and bird recognition scheme with signal processing and deep learning for integrated sensing and communications (ISAC) system. We first provide the basic scene of low-altitude…
The sensitivity of classical and quantum sensing is impaired in a noisy environment. Thus, one of the main challenges facing sensing protocols is to reduce the noise while preserving the signal. State of the art quantum sensing protocols…
The paper presents an approach for learning antenna Radiation Patterns (RPs) of a pair of heterogeneous quadrotor Uncrewed Aerial Vehicles (UAVs) by calibration flight data. RPs are modeled either as a Spherical Harmonics series or as a…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
Adaptive (or deformable) mirrors are widely used as wavefront correctors in adaptive optics systems. The optical calibration of an adaptive mirror is a fundamental step during its life-cycle: the process is in facts required to compute a…
Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…
We study an in-flight actuator failure recovery problem for a hexrotor UAV. The hexrotor may experience external disturbances and modeling error, which are accounted for in the control design and distinguished from an actuator failure. A…
Unmanned aerial vehicle (UAV)-enabled positioning that uses UAVs as aerial anchor nodes is a promising solution for providing positioning services in harsh environments. In previous research, the state sensing and control of UAVs were…
We address the problem of robust state estimation of a class of discrete-time nonlinear systems with positive-slope nonlinearities when the sensors are corrupted by (potentially unbounded) attack signals and bounded measurement noise. We…
In airborne light detection and ranging (LiDAR) systems, misalignments between the LiDAR-scanner and the inertial navigation system (INS) mounted on an unmanned aerial vehicle (UAV)'s frame can lead to inaccurate 3D point clouds.…
One prominent security threat that targets unmanned aerial vehicles (UAVs) is the capture via GPS spoofing in which an attacker manipulates a UAV's global positioning system (GPS) signals in order to capture it. Given the anticipated…
This paper focuses on the control of a system composed of an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) which cooperate to manipulate an object. The two units are subject to actuator saturations and cooperate to move…
When Unmanned Aerial Vehicles (UAVs) perform high-precision communication tasks, such as searching for users and providing emergency coverage, positioning errors between base stations and users make it challenging to deploy trajectory…
A disjunctive sensing and actuation problem is considered in which the actuators and sensors are prevented from operating together over any given time step. This problem is motivated by practical applications in the area of spacecraft…
A GPS-denied UAV (Agent B) is localised through INS alignment with the aid of a nearby GPS-equipped UAV (Agent A), which broadcasts its position at several time instants. Agent B measures the signals' direction of arrival with respect to…
In this paper, we develop a novel and simple adaptive control scheme for a one-dimensional unstable heat equation with unknown control coefficient. A new state observer is designed to estimate the system state, while a new update law is…
This work addresses the problem of path tracking control of a suspended load using a tilt-rotor UAV. The main challenge in controlling this kind of system arises from the dynamic behavior imposed by the load, which is usually coupled to the…
Unmanned aerial vehicles (UAVs) are becoming largely ubiquitous with an increasing demand for aerial data. Accurate navigation and localization, required for precise data collection in many industrial applications, often relies on RTK GNSS.…
Despite the celebrated success of stochastic control approaches for uncertain systems, such approaches are limited in the ability to handle non-Gaussian uncertainties. This work presents an adaptive robust control for linear uncertain…
This paper introduces a novel distributed consensus-based observer design that enables a group of agents in an undirected communication network to solve the problem of target tracking, where the target is modelled as a chain of integrators…