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Once deployed in the real world, autonomous underwater vehicles (AUVs) are out of reach for human supervision yet need to take decisions to adapt to unstable and unpredictable environments. To facilitate research on self-adaptive AUVs, this…
For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the…
This paper modifies an adaptive multicopter autopilot to mitigate instabilities caused by adaptive parameter drift and presents simulation and experimental results to validate the modified autopilot. The modified adaptive controller is…
UAV's capability to access remote and inaccessible areas within a quick time can be utilized for effective cyclone management. This paper presents the possible application of UAVs at different stages of cyclone mitigation. The overall…
Fixed-wind unmanned aerial vehicles (UAVs) are essential for low cost aerial surveillance and mapping applications in remote regions. One of the main limitations of UAVs is limited fuel capacity and hence requires periodic refueling to…
Simulation environments for Unmanned Aerial Vehicles (UAVs) can be very useful for prototyping user interfaces and training personnel that will operate UAVs in the real world. The realistic operation of such simulations will only enhance…
When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…
Autonomous drones must often respond to sudden events, such as alarms, faults, or unexpected changes in their environment, that require immediate and adaptive decision-making. Traditional approaches rely on safety engineers hand-coding…
Autonomous robotic inspection missions require balancing multiple conflicting objectives while navigating near costly obstacles. Current multi-objective path planning (MOPP) methods struggle to adapt to evolving risks like localization…
Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks often neglect the robustness required for…
This paper investigates an adaptive sliding-mode control for an integrated UAV autopilot and guidance system. First, a two-dimensional mathematical model of the system is derived by considering the incorporated lateral dynamics and relative…
The capabilities of autonomous flight with unmanned aerial vehicles (UAVs) have significantly increased in recent times. However, basic problems such as fast and robust geo-localization in GPS-denied environments still remain unsolved.…
This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…
With the increasing development of intelligent transportation systems and advancements in aviation technology, the concept of Advanced Air Mobility (AAM) is gaining attention. This study aims to improve operational safety and service…
This paper investigates the problem of traffic surveillance using an unmanned aerial vehicle (UAV) and proposes a domain-knowledge-aided airborne ground moving targets tracking algorithm. To improve the accuracy of multiple targets…
This paper addresses modeling and control of a six-degree-of-freedom unmanned aerial vehicle capable of vertical take-off and landing in the presence of wind disturbances. We design a hybrid vehicle that combines the benefits of both the…
In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface robots, which enforces safety constraints for precise…
Wild-land fire fighting is a hazardous job. A key task for firefighters is to observe the "fire front" to chart the progress of the fire and areas that will likely spread next. Lack of information of the fire front causes many accidents.…
Deployment of unmanned aerial vehicles (UAVs) as aerial base stations can deliver a fast and flexible solution for serving varying traffic demand. In order to adequately benefit of UAVs deployment, their efficient placement is of utmost…
To further improve the learning efficiency and performance of reinforcement learning (RL), in this paper we propose a novel uncertainty-aware model-based RL (UA-MBRL) framework, and then implement and validate it in autonomous driving under…