Related papers: Vision-Based System Identification of a Quadrotor
This paper presents a mathematic dynamic model of a quadrotor unmanned aerial vehicle (QUAV) by using the symbolic regression approach and then proposes a hierarchical control scheme for trajectory tracking. The symbolic regression approach…
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…
Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic…
This paper investigates the application of a Model Predictive Controller (MPC) for the cruise control system of a quadrotor, focusing on hovering point stabilization and reference tracking. Initially, a full-state-feedback MPC is designed…
We present the DRYVR framework for verifying hybrid control systems that are described by a combination of a black-box simulator for trajectories and a white-box transition graph specifying mode switches. The framework includes (a) a…
We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…
As the computer vision matures into a systems science and engineering discipline, there is a trend in leveraging latest advances in computer graphics simulations for performance evaluation, learning, and inference. However, there is an open…
The aim of this article is the formulation of a switching model predictive control framework for the case of a foldable quadrotor with the ability to retain the overall control quality during online structural reformations. The majority of…
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…
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…
The development of more complex inverter-based resources (IBRs) control is becoming essential as a result of the growing share of renewable energy sources in power systems. Given the diverse range of control schemes, grid operators are…
This paper evaluates the impact of three system models on the reference trajectory tracking error of the LQR optimal controller, in the challenging problem of guidance and control of the state of a system under strong perturbations and…
This paper describes how advanced deep learning based computer vision algorithms are applied to enable real-time on-board sensor processing for small UAVs. Four use cases are considered: target detection, classification and localization,…
Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual…
A data-driven framework is proposed for online estimation of quadrotor motor efficiency via residual minimization. The problem is formulated as a constrained nonlinear optimization that minimizes trajectory residuals between measured flight…
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 a vision-based system for detection, motion tracking and following of Unmanned Aerial Vehicle (UAV) with other UAV (follower) is presented. For detection of an airborne UAV we apply a convolutional neural network YOLO trained…
This paper provides a comprehensive review of mechanical equipment fault diagnosis methods, focusing on the advancements brought by Transformer-based models. It details the structure, working principles, and benefits of Transformers,…
The ability to adapt to changing conditions is a key feature of a successful autonomous system. In this work, we use the Recursive Gaussian Processes (RGP) for identification of the quadrotor air drag model online, without the need of…
The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…