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This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…
This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
The growing field of aerial manipulation often relies on fully actuated or omnidirectional micro aerial vehicles (OMAVs) which can apply arbitrary forces and torques while in contact with the environment. Control methods are usually based…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Over the past several decades there has been a constant increase in the use of Unmanned Aerial Systems (UAS). Hence, there has also been a growth in the number of control algorithms to service the many applications embodied by these…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
The conceptual design and flight controller of a novel kind of quadcopter are presented. This design is capable of morphing the shape of the UAV during flight to achieve position and attitude control. We consider a dynamic center of gravity…
In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper…
This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…
This paper presents a geometric adaptive control scheme for a quadrotor unmanned aerial vehicle, where the effects of unknown, unstructured disturbances are mitigated by a multilayer neural network that is adjusted online. The stability of…
This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…
Reliable midair docking between small unmanned aerial vehicles (UAVs) is essential for modular aerial cooperation and manipulation, but it requires precise relative-pose control and repeatable platform under tight thrust and payload…
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…
Groups of unmanned aerial vehicles (UAVs) are increasingly utilized in transportation task as the combined strength allows to increase the maximum payload. However, the resulting mechanical coupling of the UAVs impose new challenges in…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration…
The task of flying in tight formations is challenging for teams of quadrotors because the complex aerodynamic wake interactions can destabilize individual team members as well as the team. Furthermore, these aerodynamic effects are highly…
Dual quaternions have gained significant attention due to their wide applications in areas such as multi-agent formation control, 3D motion modeling, and robotics. A fundamental aspect in dual quaternion research involves the projection…