Related papers: A Co-simulation Framework for Quadrotor Control Sy…
Visual Simultaneous Localization and Mapping (v-SLAM) and navigation of multirotor Unmanned Aerial Vehicles (UAV) in an unknown environment have grown in popularity for both research and education. However, due to the complex hardware…
Training and transferring learning-based policies for quadrotors from simulation to reality remains challenging due to inefficient visual rendering, physical modeling inaccuracies, unmodeled sensor discrepancies, and the absence of a…
The previously introduced aerial manipulation systems suffer from either limited end-effector DOF or small payload capacity. In this dissertation, a quadrotor with a 2-DOF manipulator is investigated that has a unique topology to enable the…
Developing and testing algorithms for autonomous vehicles in real world is an expensive and time consuming process. Also, in order to utilize recent advances in machine intelligence and deep learning we need to collect a large amount of…
Integrating Unmanned Aerial Vehicles (UAVs) into future Intelligent Transportation Systems (ITSs) allows to exploit their unique mobility potentials for improving the performance of services such as near-field parcel delivery, dynamic…
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…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Significant challenges are posed by simulation and testing in the field of low-altitude unmanned aerial vehicle (UAV) traffic due to the high costs associated with large-scale UAV testing and the complexity of establishing low-altitude…
In the near future, the development of autonomous driving will get more complex as the vehicles will not only rely on their own sensors but also communicate with other vehicles and the infrastructure to cooperate and improve the driving…
This paper proposes a unidirectionally connected fully actuated system (UC-FAS) approach for the sub-stabilization and tracking control of 6-DOF quadrotors, tackling limitations both in state-space and FAS framework to some extent. The…
This paper presents a simulation testbed developed for testing and demonstration of decentralized control algorithms designed for multi-agent systems. Aimed at bridging a gap between theory and practical deployment of such algorithms, this…
This paper presents a simulation based control architecture that integrates Webots and Simulink for the development and testing of robotic systems. Using Webots for 3D physics based simulation and Simulink for control system design, real…
In the paper "Control Design for UAV Quadrotors via Embedded Model Control" [1], the authors designed a complete control unit for a UAV Quadrotor, based on the Embedded Model Control (EMC) methodology, in combination with the Feedback…
Unmanned aerial vehicle (UAV) research requires the integration of cutting-edge technology into existing autopilot frameworks. This process can be arduous, requiring extensive resources, time, and detailed knowledge of the existing system.…
Autonomous aerospace systems require architectures that balance deterministic real-time control with advanced perception capabilities. This paper presents an integrated system combining NASA's F' flight software framework with ROS2…
This paper presents an equivariant reinforcement learning framework for quadrotor unmanned aerial vehicles. Successful training of reinforcement learning often requires numerous interactions with the environments, which hinders its…
The quadrotor unmanned aerial vehicle is a great platform for control systems research as its nonlinear nature and under-actuated configuration make it ideal to synthesize and analyze control algorithms. After a brief explanation of the…
This study focuses on designing and developing a mathematically based quadcopter rotational dynamics simulation framework for testing reinforcement learning (RL) algorithms in many flexible configurations. The design of the simulation…
This paper presents an open-source MATLAB/Simulink physics simulator for rigid-body articulated systems, including manipulators and floating-base robots. Thanks to MATLAB/Simulink features like MATLAB system classes and Simulink function…
This dissertation presents nonlinear tracking control systems for quadrotor unmanned aerial vehicles (UAV) under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the…