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Inspired by flight characteristics captured from live Monarch butterflies, an optimal control problem is presented while accounting the effects of low-frequency flapping and abdomen undulation. A flapping-wing aerial vehicle is modeled as…
Unmanned aerial vehicles (UAVs) can be used as aerial wireless base stations when cellular networks go down. Prior studies on UAV-based wireless coverage typically consider downlink scenarios from an aerial base station to ground users. In…
In this paper, we study an unmanned aerial vehicle (UAV)-assisted mobile edge computing (MEC) architecture, in which a UAV roaming around the area may serve as a computing server to help user equipment (UEs) compute their tasks or act as a…
Unmanned Aerial Vehicles (UAVs) are increasingly used in a plethora of applications such as shipping, surveillance, and search-and-rescue. For UAVs to operate safely, reliable cellular connectivity is essential. Utilizing the terrestrial…
Modern day wireless networks have tremendously evolved driven by a sharp increase in user demands, continuously requesting more data and services. This puts significant strain on infrastructure based macro cellular networks due to the…
This paper presents a method for incorporating control analysis into design optimization for highly-maneuverable aircraft. By studying reachable sets for aircraft dynamics, we ensure that the optimizer will take the aircraft's controlled…
UAV-based wireless systems, such as wireless relay and remote sensing, have attracted great attentions from academia and industry. To realize them, a high-performance wireless aerial communication system, which bridges UAVs and ground…
Payload grasping and transportation with quadcopters is an active research area that has rapidly developed over the last decade. To grasp a payload without human interaction, most state-of-the-art approaches apply robotic arms that are…
Take-off and landing are the most important maneuvers for an aircraft's flight. Deployment for small fixed-wing aircraft is usually made by hand but when payload increases, take-off, and landing maneuvers are then performed on a runway…
The development of a generic and effective force model for semi-automatic or manual virtual assembly with haptic support is not a trivial task, especially when the assembly constraints involve complex features of arbitrary shape. The…
A novel autonomous chunk-based aerial additive manufacturing framework is presented, supported with experimental demonstration advancing aerial 3D printing. An optimization-based decomposition algorithm transforms structures into…
One of the major challenges slowing down the use of unmanned aerial vehicles (UAVs) as aerial base stations (ABSs) is the limited on-board power supply which reduces the UAV's flight time. Using a tether to provide UAVs with power can be…
Drag-based swimming with rowing appendages, fins, and webbed feet is a widely adapted locomotion form in aquatic animals. To develop effective underwater and swimming vehicles, a wide range of bioinspired drag-based paddles have been…
Hovering insects are limited by their physiology and need to rotate their wings at the end of each back and forth motion to keep the wing's leading edge ahead of its trailing edge. The wing rotation at the end of each half-stroke pushes the…
In this paper, we consider a network of multiple unmanned aerial vehicles (UAVs) where a given number of UAVs are placed at three-dimensional (3D) locations in a finite circular disk shaped region to serve a reference ground user equipment…
This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…
Wing-assisted inclined running (WAIR) observed in some young birds, is an attractive maneuver that can be extended to legged aerial systems. This study proposes a control method using a modified Variable Length Inverted Pendulum (VLIP) by…
Shape change enables new capabilities for robots. One class of robots capable of dramatic shape change is soft growing "vine" robots. These robots usually feature global actuation methods for bending that limit them to simple,…
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…
The exploration of the lunar poles and the collection of samples from the martian surface are characterized by shorter time windows demanding increased autonomy and speeds. Autonomous mobile robots must intrinsically cope with a wider range…