Related papers: Autonomous aerial perching and unperching using om…
Despite extensive research on sliding mode control (SMC) design for quadrotors, the existing approaches suffer from certain limitations. Euler angle-based SMC formulations suffer from poor performance in high-pitch or -roll maneuvers.…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
Landing a multirotor unmanned aerial vehicle (UAV) on an uncrewed surface vessel (USV) extends the operational range and offers recharging capabilities for maritime and limnology applications, such as search-and-rescue and environmental…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more…
This paper presents a flight control design for compound Vertical Takeoff and Landing (VTOL) vehicles. With their multitude of degrees of controllability as well as the significant variations in their flight characteristics, VTOL vehicles…
Aerial manipulation has recently attracted increasing interest from both industry and academia. Previous approaches have demonstrated success in various specific tasks. However, their hardware design and control frameworks are often tightly…
The endurance and energy efficiency of drones remain critical challenges in their design and operation. To extend mission duration, numerous studies explored perching mechanisms that enable drones to conserve energy by temporarily…
Multirotors can be effectively applied to various tasks, such as transportation, investigation, exploration, and lifesaving, depending on the type of payload. However, due to the nature of multirotors, the payload loaded on the multirotor…
This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it is able to tilt each propeller…
Autonomous multirotor landings on uncrewed surface vessels (USVs) are critical for persistent maritime operations but remain challenging due to wave-induced tilt, wind disturbances, and limited landing area. Many existing approaches exhibit…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
Inverted landing is a routine behavior among a number of animal fliers. However, mastering this feat poses a considerable challenge for robotic fliers, especially to perform dynamic perching with rapid body rotations (or flips) and landing…
We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by…
Conventional Feedback-Linearization-based controller, applied to the tilt-rotor (eight inputs), results in the extensive changes in the tilting angles, which are not expected in practice. To solve this problem, we introduce the novel…
This paper describes an approach to building a cost-effective and research grade visual-inertial odometry aided vertical taking-off and landing (VTOL) platform. We utilize an off-the-shelf visual-inertial sensor, an onboard computer, and a…
Aerial manipulators extend the reach and manipulation capabilities of uncrewed multirotor aerial vehicles for inspection, agriculture, sampling, and delivery. Continuum arm aerial manipulation systems offer lightweight, dexterous, and…
Aerial insects can effortlessly navigate dense vegetation, whereas similarly sized aerial robots typically depend on offboard sensors and computation to maintain stable flight. This disparity restricts insect-scale robots to operation…
This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…