Related papers: Quadrotor Dead Reckoning with Multiple Inertial Se…
Inertial Measurement Unit (IMU) sensors, including accelerometers, gyroscopes, and magnetometers, are used to estimate the orientation of mobile devices. However, indoor magnetic fields are often distorted, causing the magnetometer's…
The quadrotor is a $6$ degrees-of-freedom (DoF) system with underactuation. Adding a spherical pendulum on top of a quadrotor further complicates the task of achieving any output tracking while stabilizing the rest. In this report, we…
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for most further data processing steps in inertial motion…
The objective of this paper is to determine the position of a single mobile robot in a swarm using dead reckoning techniques. We investigate the accuracy of navigation by using this process. The paper begins with the research background and…
Quadcopters can suffer from loss of propellers in mid-flight, thus requiring a need to have a system that detects single and multiple propeller failures and an adaptive controller that stabilizes the propeller-deficient quadcopter. This…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
The accuracy of dynamic modelling of unmanned aerial vehicles, specifically quadrotors, is gaining importance since strict conditionalities are imposed on rotorcraft control. The system identification plays a crucial role as an effective…
Traditional learning approaches proposed for controlling quadrotors or helicopters have focused on improving performance for specific trajectories by iteratively improving upon a nominal controller, for example learning from demonstrations,…
Autonomous navigation in unknown complex environment is still a hard problem, especially for small Unmanned Aerial Vehicles (UAVs) with limited computation resources. In this paper, a neural network-based reactive controller is proposed for…
Recently, quadrotors are gaining significant attention in aerial transportation and delivery. In these scenarios, an accurate estimation of the external force is as essential as the 6 degree-of-freedom (DoF) pose since it is of vital…
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…
This paper explores the application of vision-based system identification techniques in quadrotor modeling and control. Through experiments and analysis, we address the complexities and limitations of quadrotor modeling, particularly in…
In this paper, we propose a radar odometry structure that directly utilizes radar velocity measurements for dead reckoning while maintaining its ability to update estimations within the Kalman filter framework. Specifically, we employ the…
Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…
The ability to perform aggressive movements, which are called aggressive flights, is important for quadrotors during navigation. However, aggressive quadrotor flights are still a great challenge to practical applications. The existing…
A current-aided inertial navigation framework is proposed for small autonomous underwater vehicles in long-duration operations (> 1 hour), where neither frequent surfacing nor consistent bottom-tracking are available. We instantiate this…
In this paper, we present a deep reinforcement learning method for quadcopter bypassing the obstacle on the flying path. In the past study, the algorithm only controls the forward direction about quadcopter. In this letter, we use two…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…