Related papers: 6-DOF All-Terrain Cyclocopter
This paper introduces a new multi-model predictive control (MMPC) method for quadrotor attitude control with performance nearly on par with nonlinear model predictive control (NMPC) and computational efficiency similar to linear model…
Wheeled robots have recently demonstrated superior mechanical capability to traverse vertically challenging terrain (e.g., extremely rugged boulders comparable in size to the vehicles themselves). Negotiating such terrain introduces…
Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…
Multiple parafoil landing is an enabling technology for massive supply delivery missions. However, it is still an open question to design a collision-free, computation-efficient guidance and control method for unpowered parafoils. To…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…
This paper presents a novel model of large-size tilt-rotor aircraft, which can operate as a helicopter as well as being capable of transition to fixed-wing flight. Aerodynamics of the dynamic large-size tilt-rotors based on blade element…
This paper present a control system for the attitude and low cost design of a Bicopter. The control system uses a PID controller that receives feedback from an IMU to calculate control inputs that adjust the Bicopters attitude (roll, pitch…
This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…
Due to dynamic variations such as changing payload, aerodynamic disturbances, and varying platforms, a robust solution for quadrotor trajectory tracking remains challenging. To address these challenges, we present a deep reinforcement…
This paper presents a novel VTOL UAV that owns a link connecting four rotors and a fuselage by a passive joint, allowing the control of the rotor's tilting angle by adjusting the rotors' thrust. This unique structure contributes to…
This paper presents a novel method for controlling teams of unmanned aerial vehicles using Stochastic Optimal Control (SOC) theory. The approach consists of a centralized high-level planner that computes optimal state trajectories as…
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic forces are calculated during robot flight in different…
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy…
Morphing multirotors, such as the Foldable Drone , can increase the versatility of drones employing in-flight-adaptive-morphology. To further increase precision in their tasks, recent works have investigated stable flight in asymmetric…
In this work we present the optimization-based design and control of a fully-actuated omnidirectional hexarotor. The tilt angles of the propellers are designed by maximizing the control wrench applied by the propellers. This maximizes (a)…
The tailsitter vertical takeoff and landing (VTOL) UAV is widely used due to its lower dead weight, which eliminates the actuators and mechanisms for tilting. However, the tailsitter UAV is susceptible to wind disturbances in multi-rotor…
This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…
Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…
This paper presents a novel approach to motion planning for two-wheeled drones that can drive on the ground and fly in the air. Conventional methods for two-wheeled drone motion planning typically rely on gradient-based optimization and…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…