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Aeroelastic structures, from insect wings to wind turbine blades, experience transient unsteady aerodynamic loads that are coupled to their motion. Effective real-time control of flexible structures relies on accurate and efficient…
Autonomous drone racing presents a challenging control problem, requiring real-time decision-making and robust handling of nonlinear system dynamics. While iterative learning model predictive control (LMPC) offers a promising framework for…
The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…
The design of micro air vehicles (MAVs) introduces aerodynamic performance challenges due to the small size and, consequently, the low Reynolds number 10000-100000. Natural fliers are naturally optimized and are comparable in size to MAVs,…
We designed and built a three degrees-of-freedom (DOF) flapping wing robot, Flapperoo, to study the aerodynamic benefits of wing folding and twisting. Forces and moments of this physical model are measured in wind tunnel tests over a…
Currently, drone research and development has received significant attention worldwide. Particularly, delivery services employ drones as it is a viable method to improve delivery efficiency by using a several unmanned drones. Research has…
The extraordinary aerial agility of hummingbirds and insects continues to inspire the design of flapping-wing drones. To replicate and analyze such flight, computational fluid dynamics (CFD) simulations that couple flow solvers with rigid…
This paper presents a lifting-wing multirotor UAV that allows long-range flight. The UAV features a lifting wing in a special mounting angle that works together with rotors to supply lift when it flies forward, achieving a reduction in…
Advanced technological breakthroughs and exceptional levels of innovation are enhancing the capabilities and potential of autonomous unmanned aerial vehicles (UAVs or drones), and in so doing attracting the interest of a broader swath of…
This paper presents a method for incorporating control analysis into design optimization for highly-maneuverable aircraft. By studying reachable sets for aircraft dynamics, we ensure that the optimizer will take the aircraft's controlled…
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…
This paper addresses modeling and control of a six-degree-of-freedom unmanned aerial vehicle capable of vertical take-off and landing in the presence of wind disturbances. We design a hybrid vehicle that combines the benefits of both the…
The principal aim of this Master's thesis is to propel the optimization of the membrane wing structure of the Northeastern Aerobat through origami techniques and enhancing its capacity for secure hovering within confined spaces.…
Drones are driving numerous and evolving use cases, and creating transformative socio-economic benefits. Drone operation needs wireless connectivity for communication between drones and ground control systems, among drones, and between…
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 article presents a solution to intercept an agile drone by another agile drone carrying a catching net. We formulate the interception as a Competitive Reinforcement Learning problem, where the interceptor and the target drone are…
In comparison to common quadrotors, the shape change of morphing quadrotors endows it with a more better flight performance but also results in more complex flight dynamics. Generally, it is extremely difficult or even impossible for…
Biological flapping wing fliers operate efficiently and robustly in a wide range of flight conditions and are a great source of inspiration to engineers. The unsteady aerodynamics of flapping-wings are dominated by large-scale vortical…
This work addresses the modelling and control aspects for quadcopter or drone unmanned aerial vehicles (UAVs). First, the mathematical model of the drone is derived by identifying significant parameters and the negligible ones are treated…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…