Related papers: A Co-simulation Framework for Quadrotor Control Sy…
CoNi-MPC provides an efficient framework for UAV control in air-ground cooperative tasks by relying exclusively on relative states, eliminating the need for global state estimation. However, its lack of environmental information poses…
The rapid growth of connected and automated vehicle (CAV) solutions have made a significant impact on the safety of intelligent transportation systems. However, similar to any other emerging technology, thorough testing and evaluation…
This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…
Reliable midair docking between small unmanned aerial vehicles (UAVs) is essential for modular aerial cooperation and manipulation, but it requires precise relative-pose control and repeatable platform under tight thrust and payload…
A customizable multi-rotor UAVs simulation platform based on ROS, Gazebo and PX4 is presented. The platform, which is called XTDrone, integrates dynamic models, sensor models, control algorithm, state estimation algorithm, and 3D scenes.…
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…
The emergence of low-cost, small form factor and light-weight solid-state LiDAR sensors have brought new opportunities for autonomous unmanned aerial vehicles (UAVs) by advancing navigation safety and computation efficiency. Yet the…
Physics simulators are widely used in robotics fields, from mechanical design to dynamic simulation, and controller design. This paper presents an open-source MATLAB/Simulink simulator for rigid-body articulated systems, including…
In recent years, autonomous unmanned aerial vehicle (UAV) technology has seen rapid advancements, significantly improving operational efficiency and mitigating risks associated with manual tasks in domains such as industrial inspection,…
Unmanned aerial vehicle (UAV)-enabled positioning that uses UAVs as aerial anchor nodes is a promising solution for providing positioning services in harsh environments. In previous research, the state sensing and control of UAVs were…
This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a…
This paper addresses the validation of electric vehicle supply equipment by means of a real-time capable co-simulation approach. This setup implies both pure software and real-time simulation tasks with different sampling rates dependent on…
This article presents an error-state Linear Quadratic Regulator (LQR) formulation for robust trajectory tracking in quadrotor Unmanned Aerial Vehicles (UAVs). The proposed approach leverages error-state dynamics and employs exponential…
This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…
This paper introduces AUTOBargeSim, a simulation toolbox for autonomous inland vessel guidance and control system design. AUTOBargeSim is developed using MATLAB and provides an easy-to-use introduction to various aspects of autonomous…
This work proposes a strategy for organising quadrotors around a payload to enable hovering without external stimuli, together with a MATLAB software for modelling the dynamics of a quadrotor-payload system. Based on geometric concepts, the…
Interest in utilizing autonomous uncrewed aerial vehicles (UAVs) for under-canopy forest remote sensing has increased in recent years, resulting in the publication of numerous autonomous flight algorithms in the scientific literature. To…
Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…
The key concept for safe and efficient traffic management for Unmanned Aircraft Systems (UAS) is the notion of operation volume (OV). An OV is a 4-dimensional block of airspace and time, which can express an aircraft's intent, and can be…
Unmanned Aerial Systems (UAS) are currently widely used in safety-critical fields such as industrial production, military operations, and disaster relief. Due to the diversity and complexity of application scenarios, UAS have become…