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Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework for autonomous dynamic soaring with a…
While autonomous multirotor micro aerial vehicles (MAVs) are uniquely well suited for certain types of missions benefiting from stationary flight capabilities, their more widespread usage still faces many hurdles, due in particular to their…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
In Urban Air Mobility (UAM) networks, takeoff and landing sites, called vertiports, are likely to experience intermittent closures due to, e.g., adverse weather. To ensure safety, all in-flight Urban Air Vehicles (UAVs) in a UAM network…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection…
Unmanned aerial vehicles (UAV) are commonly used for missions in unknown environments, where an exact mathematical model of the environment may not be available. This paper provides a framework for using reinforcement learning to allow the…
Localization of autonomous unmanned aerial vehicles (UAVs) relies heavily on Global Navigation Satellite Systems (GNSS), which are susceptible to interference. Especially in security applications, robust localization algorithms independent…
Aerial Vision-and-Language Navigation (VLN) aims to enable unmanned aerial vehicles (UAVs) to interpret natural language instructions and navigate complex urban environments using onboard visual observation. This task holds promise for…
We present a hierarchical safe auto-taxiing framework to enhance the automated ground operations of multiple unmanned aircraft systems (multi-UAS). The auto-taxiing problem becomes particularly challenging due to (i) unknown disturbances,…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications, a safety-critical controller must consider multiple…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
Unmanned aerial vehicles (UAVs) are emerging in commercial spaces and will support many applications and services, such as smart agriculture, dynamic network deployment, and network coverage extension, surveillance and security. The…
In recent decade, potential application of Unmanned Aerial Vehicles (UAV) has enabled replacement of various operations in hard-to-access areas, such as, inspection, surveillance or search and rescue applications in challenging and complex…
Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approaches often decompose decision-making into hierarchical…
Intelligent aerial platforms such as Unmanned Aerial Vehicles (UAVs) are expected to revolutionize various fields, including transportation, traffic management, field monitoring, industrial production, and agricultural management. Among…
Fast moving unmanned aerial vehicles (UAVs) are well suited for aerial surveillance, but are limited by their battery capacity. To increase their endurance UAVs can be refueled on slow moving unmanned ground vehicles (UGVs). The cooperative…
The COVID-19 pandemic has recently exacerbated the fierce competition in the transportation businesses. The airline industry took one of the biggest hits as the closure of international borders forced aircraft operators to suspend their…
The development of safe and reliable autonomous unmanned aerial vehicles relies on the ability of the system to recognise and adapt to changes in the local environment based on sensor inputs. State-of-the-art local tracking and trajectory…