Related papers: Wake Vectoring for Efficient Morphing Flight
Perching allows unmanned aerial vehicles (UAVs) to reduce energy consumption, remain anchored for surface sampling operations, or stably survey their surroundings. Previous efforts for perching on vertical surfaces have predominantly…
Flapping-wing robots offer significant versatility; however, achieving efficient multi-modal locomotion remains challenging. This paper presents the design, modeling, and experimentation of a novel tailless flapping-wing robot with three…
Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…
This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…
Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…
Flow visualisations are essential to better understand the unsteady aerodynamics of flapping wing flight. The issues inherent to animal experiments, such as poor controllability and unnatural flapping when tethered, can be avoided by using…
Multilinked aerial robot is one of the state-of-the-art works in aerial robotics, which demonstrates the deformability benefiting both maneuvering and manipulation. However, the performance in outdoor physical world has not yet been…
We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also…
In the field of autonomous Unmanned Aerial Vehicles (UAVs) landing, conventional approaches fall short in delivering not only the required precision but also the resilience against environmental disturbances. Yet, learning-based algorithms…
Efficient mobility and power consumption are critical for autonomous water surface robots in long-term water environmental monitoring. This study develops and evaluates a transformable mobility mechanism for a water surface robot with two…
Interactional aerodynamics of a quadcopter in hover is numerically investigated in this study. The main objective is to understand major flow structures associated with unsteady airloads on multirotor aircraft. The overset mesh approach is…
This paper presents the concept of a tethered variable inertial attitude control mechanism for a modular jumping-limbed robot designed for planetary exploration in low-gravity environments. The system, named SPLITTER, comprises two sub-10…
A deformable land-air robot is introduced with excellent driving and flying capabilities, offering a smooth switching mechanism between the two modes. An elaborate coupled dynamics model is established for the robot, including rotors,…
How to endow aerial robots with the ability to operate in close proximity remains an open problem. The core challenges lie in the propulsion system's dual-task requirement: generating manipulation forces while simultaneously counteracting…
Learning to control robots without requiring engineered models has been a long-term goal, promising diverse and novel applications. Yet, reinforcement learning has only achieved limited impact on real-time robot control due to its high…
In previous research, various types of aerial robots were developed to improve maneuverability or manipulation abilities. However, there was a challenge in achieving both mobility and manipulation capabilities simultaneously. This is…
Whenever a flapping robot moves along a trajectory it experiences some vibration about its mean path. Even for a hovering case, a flier experiences such vibration due to the oscillatory nature of the aerodynamic forces. In this paper we…
Aerial unperching of multirotors has received little attention as opposed to perching that has been investigated to elongate operation time. This study presents a new aerial robot capable of both perching and unperching autonomously on/from…
The ability to modify morphology in response to environmental changes represents a highly advantageous feature in biological organisms, facilitating their adaptation to diverse environmental conditions. While some robots have the capability…
With increasing demands for fuel efficiency and operational adaptability in commercial aviation}, this paper provides a systematic review and classification of morphing wing technologies, analyzing their aerodynamic performance…