Related papers: Planning and Control for a Dynamic Morphing-Wing U…
Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…
The unmanned aerial vehicle (UAV)-enabled communication technology is regarded as an efficient and effective solution for some special application scenarios where existing terrestrial infrastructures are overloaded to provide reliable…
Safely integrating unmanned aerial vehicles into civil airspace is contingent upon development of a trustworthy collision avoidance system. This paper proposes an approach whereby a parameterized resolution logic that is considered trusted…
This paper develops and compares two motion planning algorithms for a tethered UAV with and without the possibility of the tether contacting the confined and cluttered environment. Tethered aerial vehicles have been studied due to their…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into a target receptacle. Due to the chaotic nature of aerodynamic forces, a blowing controller must (i) continually…
Accurate and efficient aeroelastic models are critically important for enabling the optimization and control of highly flexible aerospace structures, which are expected to become pervasive in future transportation and energy systems.…
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…
Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…
This letter investigates the coupled control problem in UAV networks utilizing high-frequency hybrid beamsteering. While phased arrays enable rapid electronic scanning, their finite Field of View (FoV) imposes a fundamental constraint that…
This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…
We present a steady jet flow-based flow control of flexible membrane wings for an adaptive and efficient motion of bat-inspired drones in complex flight environments. A body-fitted variational computational aeroelastic framework is adopted…
For a class of uncertain systems, a non-overshooting sliding mode control is presented to make them globally exponentially stable and without overshoot. Even when the unknown stochastic disturbance exists, and the time-variant reference…
Vortex-dominated flows are ubiquitous in engineering, and the ability to efficiently manipulate the dynamics of these vortices has broad applications, from wake shaping to mixing enhancement. However, the strongly nonlinear behavior of the…
This paper outlines a complete methodology for modeling an on-orbit servicing mission scenario and designing a feedback control system for the attitude dynamics that is guaranteed to robustly meet pointing requirements, despite model…
In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…
As robotic systems move from highly structured environments to open worlds, incorporating uncertainty from dynamics learning or state estimation into the control pipeline is essential for robust performance. In this paper we present a…
The aim of this work is to study the dynamics and stability of soft shape-morphing configurations and specifically the modes of interaction between the front and rear airfoil segments. Initially we present several steady-state solutions,…
In this study, we applied reinforcement learning based on the proximal policy optimization algorithm to perform motion planning for an unmanned aerial vehicle (UAV) in an open space with static obstacles. The application of reinforcement…