Related papers: A Simulation Evaluation Suite for Robust Adaptive …
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mission failure. This paper proposes a…
The ground effect on multicopters introduces several challenges, such as control errors caused by additional lift, oscillations that may occur during near-ground flight due to external torques, and the influence of ground airflow on models…
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…
This paper studies the robust optimal control design for uncertain nonlinear systems from a perspective of robust adaptive dynamic programming (robust-ADP). The objective is to fill up a gap in the past literature of ADP where dynamic…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
RidePy enables fast computer simulations of on-demand mobility modes such as ridehailing or ridepooling. It strongly focuses on modeling the mobility service itself, rather than its customers or the environment. Through a combination of…
This survey paper focuses on quadrotor- and multirotor- based cooperative aerial manipulation. Emphasis is first given on comparing and evaluating prototype systems that have been implemented and tested in real-time in diverse application…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional wind resistance and a broad operational range, which poses complex control challenges due to non-affine dynamics. Traditional solutions employ multi-state…
Robustness of hybrid control systems to measurement noise, actuator disturbances, and more generally perturbations, is analyzed. The relationship between the robustness of a hybrid control system and of its implementations is emphasized.…
Recently, there have been numerous advances in the development of biologically inspired lightweight Micro Aerial Vehicles (MAVs). While autonomous navigation is fairly straight-forward for large UAVs as expensive sensors and monitoring…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
In this paper, we develop a retrofit control method with approximate environment modeling. Retrofit control is a modular control approach for a general stable network system whose subsystems are supposed to be managed by their corresponding…
Model predictive control (MPC) is a powerful strategy for planning and control in autonomous mobile robot navigation. However, ensuring safety in real-world deployments remains challenging due to the presence of disturbances and measurement…
This paper presents the development of a tangible platform for demonstrating the practical implementation of cooperative adaptive cruise control (CACC) systems, an enhancement to the standard adaptive cruise control (ACC) concept by means…
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot should apply forces through the contact of the legs with the…
In this paper we present a maneuver regulation scheme for Vertical Take-Off and Landing (VTOL) micro aerial vehicles (MAV). Differently from standard trajectory tracking, maneuver regulation has an intrinsic robustness due to the fact that…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
Leading autonomous vehicle (AV) platforms and testing infrastructures are, unfortunately, proprietary and closed-source. Thus, it is difficult to evaluate how well safety-critical AVs perform and how safe they truly are. Similarly, few…
The control problem of a multi-copter swarm, mechanically coupled through a modular lattice structure of connecting rods, is considered in this article. The system's structural elasticity is considered in deriving the system's dynamics. The…