Related papers: Signal corrector and decoupling estimations for UA…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
Unmanned aerial vehicle (UAV)-satellite communication has drawn dramatic attention for its potential to build the integrated space-air-ground network and the seamless wide-area coverage. The key challenge to UAV-satellite communication is…
In this paper, we study the optimization of the sensing accuracy of unmanned aerial vehicle (UAV)-based dual-baseline interferometric synthetic aperture radar (InSAR) systems. A swarm of three UAV-synthetic aperture radar (SAR) systems is…
In this paper, we simultaneously determine the optimal sensor precision and the observer gain, which achieves the specified accuracy in the state estimates. Along with the unknown observer gain, the formulation parameterizes the scaling of…
We address the problem of robust state reconstruction for discrete-time nonlinear systems when the actuators and sensors are injected with (potentially unbounded) attack signals. Exploiting redundancy in sensors and actuators and using a…
Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…
The paper deals with joint state and parameter estimation for nonlinear continuous-time systems. Based on a guaranteed LPV approximation, the set adaptive observers design problem is solved avoiding the exponential complexity obstruction…
Stabilization of a coupled system consisting of a parabolic partial differential equation and an elliptic partial differential equation is considered. Even in the situation when the parabolic equation is exponentially stable on its own, the…
This paper presents a mathematic dynamic model of a quadrotor unmanned aerial vehicle (QUAV) by using the symbolic regression approach and then proposes a hierarchical control scheme for trajectory tracking. The symbolic regression approach…
The problem of cooperative localization for a small group of Unmanned Aerial Vehicles (UAVs) in a GNSS denied environment is addressed in this paper. The presented approach contains two sequential steps: first, an algorithm called…
In this paper we propose a method to achieve relative positioning and tracking of a target by a quadcopter using Ultra-wideband (UWB) ranging sensors, which are strategically installed to help retrieve both relative position and bearing…
This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…
Visual detection of Unmanned Aerial Vehicles (UAVs) is a critical task in surveillance systems due to their small physical size and environmental challenges. Although deep learning models have achieved significant progress, deploying them…
Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal…
The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and…
In the study of Heisenberg's error-disturbance relation, it is commonly believed that the non-unitary change of states hinders us from deducing the information encoded in original states about subsequently measured observable. However, we…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
The sliding mode observer is a useful method for estimating the system state and the unknown disturbance. However, the traditional single-layer observer might still suffer from high pulse when the output measurement is mixed with noise. To…
Methodologies for incorporating the uncertainties characteristic of data-driven object detectors into object tracking algorithms are explored. Object tracking methods rely on measurement error models, typically in the form of measurement…
We derive an exact deterministic nonlinear observer to compute the continuous state of an inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction is used as the main analysis…