Related papers: Variable L0 Guidance Strategy: Enlarged Operationa…
This paper addresses the problem of traffic congestion management in fixed-wing unmanned aerial vehicle (UAV) corridors by further developing a recently introduced loiter-lane framework. A semi-cooperative guidance strategy is developed for…
In this paper, we investigate the problem of controlling multiple unmanned aerial vehicles (UAVs) to enclose a moving target in a distributed fashion based on a relative distance and self-displacement measurements. A relative localization…
Regression-based LiDAR relocalization has recently emerged as a promising solution for high-precision positioning in GNSS-denied environments. However, these methods are primarily tailored to autonomous driving, exhibiting significantly…
Many headway-based car-following models describe longitudinal adaptation through linear relaxation laws, which can produce unrealistically large accelerations and limit the physical consistency of microscopic traffic dynamics. Motivated by…
Safe flight in dynamic environments requires unmanned aerial vehicles (UAVs) to make effective decisions when navigating cluttered spaces with moving obstacles. Traditional approaches often decompose decision-making into hierarchical…
Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and…
In this paper, we study the quadrotor UAV attitude control on SO(3) in the presence of unknown disturbances and model uncertainties. L1 adaptive control for UAVs using Euler angles/quaternions is shown to exhibit robustness and precise…
This paper proposes a nonlinear optimal guidance law that enables a pursuer to enclose a target within arbitrary geometric patterns, which extends beyond conventional circular encirclement. The design operates using only relative state…
In this paper, we aim to sustain unmanned aerial vehicle (UAV) based missions for longer periods of times through different techniques. First, we consider on-the-mission UAV recharging by a low-power laser source (below 1 kilowatt). In…
We use reinforcement meta learning to optimize a line of sight curvature policy that increases the effectiveness of a guidance system against maneuvering targets. The policy is implemented as a recurrent neural network that maps navigation…
Many emerging technologies for the next generation wireless network prefer line-of-sight (LOS) propagation conditions to fully release their performance advantages. This paper studies 3D unmanned aerial vehicle (UAV) placement to establish…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
This paper presents an adaptive lookahead pure-pursuit lateral controller for optimizing racing metrics such as lap time, average lap speed, and deviation from a reference trajectory in an autonomous racing scenario. We propose a greedy…
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…
Formation flight of unmanned aerial vehicles (UAVs) poses significant challenges in terms of safety and formation keeping, particularly in cluttered environments. However, existing methods often struggle to simultaneously satisfy these two…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially…
Vision-Language-Action (VLA) models such as $\pi_0$ have demonstrated remarkable generalization across diverse fixed-base manipulators. However, transferring these foundation models to aerial platforms remains an open challenge due to the…
One typical application of unmanned aerial vehicles is the intelligence, surveillance, and reconnaissance mission, where the objective is to improve situation awareness through information acquisition. For examples, an efficient way to…
The paper contributes towards the development of a unified control approach for longitudinal aircraft dynamics with large flight envelopes. Prior to the control design, we analyze the existence and the uniqueness of the equilibrium…