Related papers: The PenduMAV: A Six-Input Omnidirectional MAV with…
Motor-actuated pendulums have been established as arguably the most common laboratory prototypes used in control system education because of the relevance to robot manipulator control in industry. Meanwhile, multi-rotor drones like…
Development of applications related to closed-loop control requires either testing on the field or on a realistic simulator, with the latter being more convenient, inexpensive, safe, and leading to shorter development cycles. To address…
The transition toward software-defined vehicles requires standardization and modularization of hardware decoupled from software, along with centralized electrical/electronic architectures. While electrified drive units, such as integrated…
This thesis introduces a novel quadrotor manipulation system that consists of 2-link manipulator attached to the bottom of a quadrotor. This new system presents a solution for the drawbacks found in the current quadrotor manipulation system…
To enhance the obstacle-crossing and endurance capabilities of vehicles operating in complex environments, this paper presents the design of a hybrid terrestrial/aerial coaxial tilt-rotor vehicle, TactV, which integrates advantages such as…
Designing robust controllers for precise trajectory tracking with quadrotors is challenging due to nonlinear dynamics and underactuation, and becomes harder with flexible cable-suspended payloads that add degrees of freedom and hybrid…
In this paper, an exponentially stable trajectory tracking controller is proposed for multi-UAV payload transport. The multi-UAV payload system has a 2-DOF magnetic spherical joint between the UAVs and the vertical rigid links of the…
Six-dimensional movable antenna (6DMA) is a new and revolutionary technique that fully exploits the wireless channel spatial variations at the transmitter/receiver by flexibly adjusting the three-dimensional (3D) positions and/or 3D…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…
This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…
Six-dimensional movable antenna (6DMA) is a promising solution for enhancing wireless network capacity through the adjustment of both three-dimensional (3D) positions and 3D rotations of distributed antenna surfaces. Previous works mainly…
This paper employs Geometric Algebra (GA) tools to model the dynamics of objects in 3-dimensional space, serving as a proof of concept to facilitate control design for trajectory tracking in underactuated systems. For control purposes, the…
We describe the design and 3D sensing performance of an omnidirectional stereo-vision system (omnistereo) as applied to Micro Aerial Vehicles (MAVs). The proposed omnistereo model employs a monocular camera that is co-axially aligned with a…
Accurate metric depth is critical for autonomous driving perception and simulation, yet current approaches struggle to achieve high metric accuracy, multi-view and temporal consistency, and cross-domain generalization. To address these…
This paper presents a novel design of an Omnidirectional bendable Omnicrawler module- CObRaSO. Along with the longitudinal crawling and sideways rolling motion, the performance of the OmniCrawler is further enhanced by the introduction of…
In this paper we present a Fuzzy Logic control approach designed to stabilize a multi-input multi-output magnetic suspension system. The system has four cubic floaters and four actuators that apply magnetic forces on the floaters, the…
Robotic manipulators for aerospace applications require a delicate balance between lightweight construction and fault-tolerant operation to satisfy strict weight limitations and ensure reliability in remote, hazardous environments. This…