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Pre-trained Transformer models like T5 and BART have advanced the state of the art on a wide range of text generation tasks. Compressing these models into smaller ones has become critically important for practical use. Common neural network…
In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the…
Learning-based navigation systems are widely used in autonomous applications, such as robotics, unmanned vehicles and drones. Specialized hardware accelerators have been proposed for high-performance and energy-efficiency for such…
This paper presents an initial design concept and specification of a civilian Unmanned Aerial Vehicle (UAV) management simulation system that focuses on explainability for the human-in-the-loop control of semi-autonomous UAVs. The goal of…
This paper investigates federated multimodal learning (FML) assisted by unmanned aerial vehicles (UAVs) with a focus on minimizing system latency and providing convergence analysis. In this framework, UAVs are distributed throughout the…
The rapid development of Unmanned aerial vehicles (UAVs) technology has spawned a wide variety of applications, such as emergency communications, regional surveillance, and disaster relief. Due to their limited battery capacity and…
To enable communication-efficient federated learning (FL), this paper studies an unmanned aerial vehicle (UAV)-enabled FL system, where the UAV coordinates distributed ground devices for a shared model training. Specifically, by exploiting…
The event-triggered control with intermittent output can reduce the communication burden between the controller and plant side over the network. It has been exploited for adaptive output feedback control of uncertain nonlinear systems in…
A robust auto-landing problem of a Truss-braced Wing (TBW) regional jet aircraft with poor stability characteristics is presented in this study employing a Fuzzy Reinforcement Learning scheme. Reinforcement Learning (RL) has seen a recent…
There is a growing need for uncrewed aerial vehicles (UAVs) to operate in cities. However, the uneven urban landscape and complex street systems cause large-scale wind gusts that challenge the safe and effective operation of UAVs. Current…
We propose a simple, practical and intuitive approach to improve the performance of a conventional controller in uncertain environments using deep reinforcement learning while maintaining safe operation. Our approach is motivated by the…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unstable. While various reinforcement learning (RL) approaches…
In this paper, the formation control of multi-agent systems in random switching communication topology is studied, and the problem of excessive bandwidth and low control efficiency among multi-agents is solved. For nonlinear multi-agent…
Conventional optimization-based metering depends on strict adherence to precomputed schedules, which limits the flexibility required for the stochastic operations of Advanced Air Mobility (AAM). In contrast, multi-agent reinforcement…
Unmanned aerial vehicle (UAV)-assisted data collection has been emerging as a prominent application due to its flexibility, mobility, and low operational cost. However, under the dynamic and uncertainty of IoT data collection and energy…
Underwater Unmanned Vehicles (UUVs) have to constantly compensate for the external disturbing forces acting on their body. Adaptive Control theory is commonly used there to grant the control law some flexibility in its response to process…
This paper presents a novel quaternion-based nonsingular control system for underactuated vertical-take-off and landing (VTOL) Unmanned Aerial Vehicles (UAVs). Position and attitude tracking is challenging regarding singularity and…
Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…
Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…