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The aerodynamic influence of a wing-equipped motorcycle on a pursuing motorcycle presents critical implications for stability and performance. This study investigates the induced flow dynamics, characterized by a turbulent and complex wake…

Recently, needs for unmanned aerial vehicles (UAVs) that are attachable to the wall have been highlighted. As one of the ways to address the need, researches on various tilting multirotors that can increase maneuverability has been…

Recently non-linear control methods like Model Predictive Control (MPC) and Reinforcement Learning (RL) have attracted increased interest in the quadrotor control community. In contrast to classic control methods like cascaded PID…

Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…

Aerial manipulation for safe physical interaction with their environments is gaining significant momentum in robotics research. In this paper, we present a disturbance-observer-based safety-critical control for a fully actuated aerial…

In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…

Designing robots capable of traversing uneven terrain and overcoming physical obstacles has been a longstanding challenge in the field of robotics. Walking robots show promise in this regard due to their agility, redundant DOFs and…

Purpose: Real-life applications using quadrotors introduce a number of disturbances and time-varying properties that pose a challenge to flight controllers. We observed that, when a quadrotor is tasked with picking up and dropping a…

We present a novel, decentralized collision avoidance algorithm for navigating a swarm of quadrotors in dense environments populated with static and dynamic obstacles. Our algorithm relies on the concept of Optimal Reciprocal…

Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…

Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstacles remains…

In this work, we evaluate the use of aerial drone hover constraints in a multisensor fusion of ground robot and drone data to improve the localization performance of a drone. In particular, we build upon our prior work on cooperative…

With quadrotor use seeing extensive growth in recent years, the autonomous control of these Unmanned Aerial Vehicles (UAVs) is an increasing relevant and intersting field. In this paper a linear state-space approach at designing a stable…

Advances in software and hardware technologies have facilitated the production of quadrotor unmanned aerial vehicles (UAVs). Nowadays, people actively use quadrotor UAVs in essential missions such as search and rescue, counter-terrorism,…

This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…

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…

Visual navigation algorithms for quadrotors often exhibit a large variation in performance when transferred across different vehicle platforms and scene geometries, which increases the cost and risk of field deployment. To support…

As the use of Head-Mounted Displays in moving vehicles increases, passengers can immerse themselves in visual experiences independent of their physical environment. However, interaction methods are susceptible to physical motion, leading to…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…