Related papers: Hardware-in-the-Loop for Characterization of Embed…
In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…
Developing an operating system (OS) for low-end embedded devices requires continuous adaptation to new hardware architectures and components, while serviceability of features needs to be assured for each individual platform under tight…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
This paper presents a model for detecting high-impedance faults (HIFs) using parameter error modeling and a two-step per-phase weighted least squares state estimation (SE) process. The proposed scheme leverages the use of phasor measurement…
The advances in compact and agile micro aerial vehicles (MAVs) have shown great potential in replacing human for labor-intensive or dangerous indoor investigation, such as warehouse management and fire rescue. However, the design of a state…
Micro Air Vehicles (MAVs) are increasingly being used for complex or hazardous tasks in enclosed and cluttered environments such as surveillance or search and rescue. With this comes the necessity for sensors that can operate in poor…
Unmanned Aerial Vehicles (UAVs) are getting closer to becoming ubiquitous in everyday life. Among them, Micro Aerial Vehicles (MAVs) have seen an outburst of attention recently, specifically in the area with a demand for autonomy. A key…
This paper presents an indoor pose estimation system for micro aerial vehicles (MAVs) with a single WiFi access point. Conventional approaches based on computer vision are limited by illumination conditions and environmental texture. Our…
Accurate real-time wind vector estimation is essential for enhancing the safety, navigation accuracy, and energy efficiency of unmanned aerial vehicles (UAVs). Traditional approaches rely on external sensors or simplify vehicle dynamics,…
We introduce an early-phase bottleneck analysis and characterization model called the F-1 for designing computing systems that target autonomous Unmanned Aerial Vehicles (UAVs). The model provides insights by exploiting the fundamental…
The rapid evolution of wearable technologies, such as AR glasses, demands compact, energy-efficient sensors capable of high-precision measurements in dynamic environments. Traditional Frequency-Modulated Continuous Wave (FMCW) Laser…
Computer vision approaches are widely used by autonomous robotic systems to sense the world around them and to guide their decision making as they perform diverse tasks such as collision avoidance, search and rescue, and object…
We present a closed-loop control strategy for a delta-wing unmanned aerial aquatic-vehicle (UAAV) that enables autonomous swim, fly, and water-to-air transition. Our control system consists of a hybrid state estimator and a closed-loop…
Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…
This paper presents a solution for the state estimation and control problems for a class of unconventional vertical takeoff and landing (VTOL) UAVs operating in forward-flight conditions. A tightly-coupled state estimation approach is used…
Unmanned aerial vehicles (UAVs) can be critical for time-sensitive data collection missions, yet existing research often relies on simulations that fail to capture real-world complexities. Many studies assume ideal wireless conditions or…
The present work deals with a new passive system for real-time detection, classification and direction of arrival estimator of Unmanned Aerial Vehicles (UAVs). The proposed system composed of a very low cost hardware components, comprises…
With UAVs promising capabilities to increase operation flexibility and reduce mission cost, we are exploiting the automated carrier-landing performance advancement that can be achieved by fixed-wing UAVs. To demonstrate such potentials, in…
Minimum Snap Trajectory Generation and Control for an Under-actuated Flapping Wing Aerial VehicleThis paper presents both the trajectory generation and tracking control strategies for an underactuated flapping wing aerial vehicle (FWAV).…
Multilayer Extreme Learning Machine (ML-ELM) and its variants have proven to be an effective technique for the classification of different natural signals such as audio, video, acoustic and images. In this paper, a Hybrid Multilayer Extreme…