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This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…
Unmanned Aerial Vehicles (UAVs) have been increasingly used in the context of remote sensing missions such as target search and tracking, mapping, or surveillance monitoring. In the first part of our paper we consider agent dynamics,…
This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…
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…
The primary purpose of this study is to investigate the system modeling of a nanoquadcopter as well as designing position and trajectory control algorithms, with the ultimate goal of testing the system both in simulation and on a real…
Experimental flight tests are reported about quadrotors UAVs via a recent model-free control (MFC) strategy, which is easily implementable. We show that it is possible to achieve acrobatic rate control of the UAV, which is beyond the…
This paper proposes the ProxFly, a residual deep Reinforcement Learning (RL)-based controller for close proximity quadcopter flight. Specifically, we design a residual module on top of a cascaded controller (denoted as basic controller) to…
This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…
Interactional aerodynamics of a quadcopter in hover is numerically investigated in this study. The main objective is to understand major flow structures associated with unsteady airloads on multirotor aircraft. The overset mesh approach is…
The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation…
As the space domain becomes increasingly congested, autonomy is proposed as one approach to enable small numbers of human ground operators to manage large constellations of satellites and tackle more complex missions such as on-orbit or…
Multi-drone cooperative transport (CT) problem has been widely studied in the literature. However, limited work exists on control of such systems in the presence of time-varying uncertainties, such as the time-varying center of gravity…
We introduce AttentionSwarm, a novel benchmark designed to evaluate safe and efficient swarm control in a dynamic drone racing scenario. Central to our approach is the Attention Model-Based Control Barrier Function (CBF) framework, which…
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…
The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control under strict safety and operational constraints. This…
Traffic collision avoidance systems (TCAS) are used in order to avoid incidences of mid-air collisions between aircraft. We present a game-theoretic approach of a TCAS designed for autonomous unmanned aerial vehicles (UAVs). A variant of…
This paper develops a novel physics-based approach for fault-resilient multi-quadcopter coordination in the presence of abrupt quadcopter failure. Our approach consists of two main layers: (i) high-level physics-based guidance to safely…
In this thesis we are interested in applying distributed estimation, control and optimization techniques to enable a group of quadcopters to fly through openings. The quadcopters are assumed to be equipped with a simulated bearing and…
The design and development of swarms of micro-aerial vehicles (MAVs) has recently gained significant traction. Collaborative aerial swarms have potential applications in areas as diverse as surveillance and monitoring, inventory management,…
Deploying Model Predictive Control on nano-scale aerial platforms is challenging due to the severe computational limitations of onboard microcontrollers. This paper presents an experimental study with computational focus of a dual…