Related papers: A Co-simulation Framework for Quadrotor Control Sy…
With advances in sensing, computing, and communication technologies, Connected and Automated Vehicles (CAVs) are becoming feasible. The advent of CAVs presents new opportunities to improve the energy efficiency of individual vehicles.…
This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…
We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…
In this paper, we construct an air-sea collaborative system framework based on the Integrated Sensing and Communication (ISAC) techniques, where the Unmanned Aerial Vehicle (UAV) and Unmanned Surface Vehicle (USV) jointly inspect targets of…
Hybrid unmanned aerial vehicles (UAVs) integrate the efficient forward flight of fixed-wing and vertical takeoff and landing (VTOL) capabilities of multicopter UAVs. This paper presents the modeling, control and simulation of a new type of…
The accuracy of dynamic modelling of unmanned aerial vehicles, specifically quadrotors, is gaining importance since strict conditionalities are imposed on rotorcraft control. The system identification plays a crucial role as an effective…
The standard quadrotor is one of the most popular and widely used aerial vehicle of recent decades, offering great maneuverability with mechanical simplicity. However, the under-actuation characteristic limits its applications, especially…
Unmanned aerial vehicles (UAVs) are finding their way into offshore applications. In this work, we postulate an original system that entails a marine locomotive quadrotor UAV that manipulates the velocity of a floating buoy by means of a…
Equations of motion and dynamics of a quadrotor transporting a load with a flexible cable modeled as a chain pendulum is obtained using Euler-Lagrange equations by taking variations on manifolds. An arbitrary number of links considered in a…
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…
In this paper, we propose a data-driven framework for collaborative wideband spectrum sensing and scheduling for networked unmanned aerial vehicles (UAVs), which act as the secondary users to opportunistically utilize detected spectrum…
A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine onboard 3D lidar sensing and sim-to-real reinforcement…
Unmanned Aerial Vehicles (UAVs) have become pivotal in domains spanning military, agriculture, surveillance, and logistics, revolutionizing data collection and environmental interaction. With the advancement in drone technology, there is a…
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…
We present a bottleneck analysis tool for designing compute systems for autonomous Unmanned Aerial Vehicles (UAV). The tool provides insights by exploiting the fundamental relationships between various components in the autonomous UAV such…
In this paper, we developed a generalized simulation framework for the evaluation of electric vertical takeoff and landing vehicles (eVTOLs) in the context of Unmanned Aircraft Systems (UAS) Traffic Management (UTM) and under the concept of…
In this paper, first the full dynamics of aerial transportation of a rigid body with arbitrary number of quadrotors is derived. Then a control strategy is proposed to convey the nonuniform rigid body appropriately to the desired trajectory.…
High-fidelity simulation is essential for robotics research, enabling safe and efficient testing of perception, control, and navigation algorithms. However, achieving both photorealistic rendering and accurate physics modeling remains a…
This paper presents a generalized framework for the simulation of multiple robots and drones in highly realistic models of natural environments. The proposed simulation architecture uses the Unreal Engine4 for generating both optical and…
This work proposes a systematic framework for modelling and controller design of a Commercial-Off-The Shelf (COTS) unmanned rotorcraft using control theory and principles, for brick wall construction. With point to point navigation as the…