Related papers: AeroThrow: An Autonomous Aerial Throwing System fo…

Planning a time-optimal trajectory for aerial robots is critical in many drone applications, such as rescue missions and package delivery, which have been widely researched in recent years. However, it still involves several challenges,…

This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…

Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package delivery. Cables are a promising option for manipulation…

In this article we propose a distributed collision avoidance scheme for multi-agent unmanned aerial vehicles(UAVs) based on nonlinear model predictive control (NMPC),where other agents in the system are considered as dynamic obstacles with…

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…

This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based motion planning typically requires low computation times to…

Autonomous Micro Aerial Vehicles (MAVs), particularly quadrotors, have shown significant potential in assisting humans with tasks such as construction and package delivery. These applications benefit greatly from the use of cables for…

Accurate mathematical models of aerodynamic properties play an important role in the aerospace field. In some cases, system parameters of an aircraft can be estimated reliably only via flight tests. In order to obtain meaningful…

Nonlinear Model Predictive Control (NMPC) is a powerful and widely used technique for nonlinear dynamic process control under constraints. In NMPC, the state and control weights of the corresponding state and control costs are commonly…

This paper investigates the control problem of dual-arm unmanned aerial manipulator systems (DAUAMs). Strong coupling between the dual-arm and the multirotor platform, together with unmodeled dynamics and external disturbances, poses…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

Air-to-air missiles are used on many modern military combat aircraft for self-defence. It is imperative for the pilots using the weapons that the missiles hit their target first time. The important goals for a missile control system to…

With the increasing development of intelligent transportation systems and advancements in aviation technology, the concept of Advanced Air Mobility (AAM) is gaining attention. This study aims to improve operational safety and service…

Aerial robotics for transporting suspended payloads as the form of freely-floating manipulator are growing great interest in recent years. However, the force/torque caused by payload and residual dynamics will introduce unmodeled…

We propose a methodology for autonomous aerial navigation and obstacle avoidance of micro aerial vehicles (MAV) using nonlinear model predictive control (NMPC) and we demonstrate its effectiveness with laboratory experiments. The proposed…

This paper presents an estimation and control algorithm for an aerial manipulator using a hexacopter with a 2-DOF robotic arm. The unknown parameters of a payload are estimated by an on-line estimator based on parametrization of the aerial…

In this paper a novel aerial manipulation system is proposed. The mechanical structure of the system, the number of thrusters and their geometry will be derived from technical optimization problems. The aforementioned problems are defined…

Autonomous Aerial Manipulators (AAMs) are inherently coupled, nonlinear systems that exhibit nonstationary and multiscale residual dynamics, particularly during manipulator reconfiguration and abrupt payload variations. Conventional…

The use of delivery services is an increasing trend worldwide, further enhanced by the COVID pandemic. In this context, drone delivery systems are of great interest as they may allow for faster and cheaper deliveries. This paper presents a…

The problem of rapid optimal coverage through the distribution a team of robots or static sensors via means of aerial drop is the topic of this work. Considering a nonholonomic (fixed-wing) aerial robot that corresponds to the carrier of a…