Related papers: Prototyping of a multirotor UAV for precision land…
Ability to recover from faults and continue mission is desirable for many quadrotor applications. The quadrotor's rotor may fail while performing a mission and it is essential to develop recovery strategies so that the vehicle is not…
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…
This paper proposes an adaptive tracking strategy with mass-inertia estimation for aerial transportation problems of multi-rotor UAVs. The dynamic model of multi-rotor UAVs with disturbances is firstly developed with a linearly…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
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,…
In this paper, we present an autonomous flight controller for a quadcopter with thrust vectoring capabilities. This UAV falls in the category of multirotors with tilt-motion enabled rotors. Since the vehicle considered is over-actuated in…
As roles for unmanned aerial vehicles (UAV) continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptive…
Conventional quadrotors received great attention in trajectory design and fault-tolerant control in these years. The direction of each thrust is perpendicular to the body because of the geometrics in mechanical design. Comparing with the…
This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…
Unmanned aerial vehicles (UAVs) have various advantages, but their practical applications are influenced by their limited energy. Therefore, it is important to manage their power consumption and also important to establish corresponding…
We study a trajectory tracking problem for a multi-rotor in the presence of modeling error and external disturbances. The desired trajectory is unknown and generated from a reference system with unknown or partially known dynamics. We…
This paper introduces a methodology for task-specific design optimization of multirotor Micro Aerial Vehicles. By leveraging reinforcement learning, Bayesian optimization, and covariance matrix adaptation evolution strategy, we optimize…
Multi-rotor UAVs face limited flight time due to battery constraints. Autonomous docking on blimps with onboard battery recharging and data offloading offers a promising solution for extended UAV missions. However, the vulnerability of…
In this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
This paper presents a fault-tolerant control for the trajectory tracking of autonomous underwater vehicles (AUVs) against thruster failures. We formulate faults in AUV thrusters as discrete switching events during a UAV mission, and develop…
This paper describes the development of an on-board data-driven system that can monitor and localize the fault in a quadrotor unmanned aerial vehicle (UAV) and at the same time, evaluate the degree of damage of the fault under real…
In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that…
In this work, we propose a dynamic landing solution without the need for onboard exteroceptive sensors and an expensive computation unit, where all localization and control modules are carried out on the ground in a non-inertial frame. Our…
This manuscript details an architecture and training methodology for a data-driven framework aimed at detecting, identifying, and quantifying damage in the propeller blades of multirotor Unmanned Aerial Vehicles. By substituting one…