Related papers: Modular Adaptive Aerial Manipulation under Unknown…

It is challenging to model and control a tail-sitter unmanned aerial vehicle (UAV) because its blended wing body generates complicated nonlinear aerodynamic effects, such as wing lift, fuselage drag, and propeller-wing interactions. We…

The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…

We propose developing an integrated system to keep autonomous unmanned aircraft safely separated and behave as expected in conjunction with manned traffic. The main goal is to achieve safe manned-unmanned vehicle teaming to improve system…

Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…

Take-off and landing are the most important maneuvers for an aircraft's flight. Deployment for small fixed-wing aircraft is usually made by hand but when payload increases, take-off, and landing maneuvers are then performed on a runway…

Unmanned aerial vehicle (UAV) is becoming increasingly important in modern civilian and military applications. However, its novel use cases is bottlenecked by conventional satellite and terrestrial localization technologies, and calling for…

In this paper, an autonomous aerial manipulation task of pulling a plug out of an electric socket is conducted, where maintaining the stability and robustness is challenging due to sudden disappearance of a large interaction force. The…

In experimental robotics, researchers may face uncertainties in parameters of a robot manipulator that they are working with. This uncertainty may be caused by deviations in the manufacturing process of a manipulator, or changes applied to…

Morphing aerial vehicles offer enhanced maneuverability and fuel efficiency compared to fixed-wing configurations. However, the trade-off between performance gains and control cost in dynamic, unsteady maneuvers remains under-explored. This…

This dissertation presents nonlinear tracking control systems for quadrotor unmanned aerial vehicles (UAV) under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the…

Air-to-air missiles are used on many modern military combat aircraft for self-defence. It is imperative for the pilots using the weapons that the missiles hit their target first time. The important goals for a missile control system to…

In this paper, a novel design scheme is introduced to solve the optimal control problem for nonlinear systems with unsymmetrical and state-dependent input constraints. By introducing an initial stabilizing control policy as the baseline of…

Air-land bimodal vehicles provide a promising solution for navigating complex environments by combining the flexibility of aerial locomotion with the energy efficiency of ground mobility. However, planning dynamically feasible, smooth,…

This paper presents the inverse kinematic analysis and parameters identification of a novel aerial manipulation system. This system consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution…

Unmanned aircraft systems can perform some more dangerous and difficult missions than manned aircraft systems. In some highly complicated and changeable tasks, such as air combat, the maneuvering decision mechanism is required to sense the…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

This review explores the theoretical foundations and experimental dynamics of modern tiltrotor aircraft. Emphasizing feedback linearization, the study delves into the distinctive constraints and angular velocity ranges shaping tiltrotor…

Transportation missions in aerospace are limited to the capability of each aerospace robot and the properties of the target transported object, such as mass, inertia, and grasping locations. We present a novel decentralized adaptive…

Legged robots have shown remarkable advantages in navigating uneven terrain. However, realizing effective locomotion and manipulation tasks on quadruped robots is still challenging. In addition, object and terrain parameters are generally…

Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…