Related papers: AeroThrow: An Autonomous Aerial Throwing System fo…
Commercial UAVs are an emerging security threat as they are capable of carrying hazardous payloads or disrupting air traffic. To counter UAVs, we introduce an autonomous 3D target encirclement and interception strategy. Unlike traditional…
A major challenge in autonomous flights is unknown disturbances, which can jeopardize safety and lead to collisions, especially in obstacle-rich environments. This paper presents a disturbance-aware motion planning and control framework…
Unmanned aerial vehicles (UAVs) have significant practical advantages for delivering packages, and many logistics companies have begun deploying UAVs for commercial package deliveries. To deliver packages quickly and cost-effectively, the…
Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…
Distributed model predictive control (DMPC) is often used to tackle path planning for unmanned aerial vehicle (UAV) swarms. However, it requires considerable computations on-board the UAV, leading to increased weight and power consumption.…
Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed is often sacrificed to uphold precision. Existing control…
Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land for recharging. In this paper, we present a solution for…
Small unmanned aircraft systems (sUAS) are becoming prominent components of many humanitarian assistance and disaster response (HADR) operations. Pairing sUAS with onboard artificial intelligence (AI) substantially extends their utility in…
The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…
This paper proposes a finite-horizon optimal control strategy for set-point tracking using a nonlinear model predictive control framework with integrated avoidance capabilities. The formulation employs a smooth point-to-cloud distance…
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…
Decentralized air traffic management systems offer a scalable alternative to centralized control, but often assume high levels of cooperation. In practice, such assumptions frequently break down since airspace sectors operate independently…
Aerial manipulation combines the versatility and speed of flying platforms with the functional capabilities of mobile manipulation, which presents significant challenges due to the need for precise localization and control. Traditionally,…
This paper presents a robust neural control design for a three-drone slung payload transportation system to track a reference path under external disturbances. The control contraction metric (CCM) is used to generate a neural exponentially…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
This research offers a novel framework for dynamic task assignment for unmanned aerial vehicles (UAVs) in cooperative search settings. Notably, it incorporates post-fault UAV capabilities into job assignment techniques, assuring operational…
Air traffic control is a real-time safety-critical decision making process in highly dynamic and stochastic environments. In today's aviation practice, a human air traffic controller monitors and directs many aircraft flying through its…
Aerial manipulators based on conventional multirotors can conduct manipulation only in small roll and pitch angles due to the underactuatedness of the multirotor base. If the multirotor base is capable of hovering at arbitrary orientation,…
Airdrops issued by platforms are to distribute tokens, drive user adoption, and promote decentralized services. The distributions attract airdrop hunters (attackers), who exploit the system by employing Sybil attacks, i.e., using multiple…
Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system…