Related papers: Towards Robust Optimization-Based Autonomous Dynam…
Aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely piloting a drone while filming a moving target in the presence of obstacles is…
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive…
UAVs have been widely used in visual inspections of buildings, bridges and other structures. In either outdoor autonomous or semi-autonomous flights missions strong GPS signal is vital for UAV to locate its own positions. However, strong…
Controlling a distributed autonomous unmanned aerial vehicle (UAV) formation is usually considered in the context of recovering the connectivity graph should a single UAV agent be lost. At the same time, little focus is made on how such…
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…
Airborne Wind Energy is a lightweight technology that allows power extraction from the wind using airborne devices such as kites and gliders, where the airfoil orientation can be dynamically controlled in order to maximize performance. The…
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…
The robotics community is increasingly interested in autonomous aerial transportation. Unmanned aerial vehicles with suspended payloads have advantages over other systems, including mechanical simplicity and agility, but pose great…
Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…
In this paper, we study an unmanned aerial vehicle (UAV)-enabled wireless power transfer (WPT) network, where a UAV flies at a constant altitude in the sky to provide wireless energy supply for a set of ground nodes with a linear topology.…
This study presents a comprehensive mathematical framework for modeling the flight dynamics of a six-degree-of-freedom fixed-wing aircraft as a rigid body with three control surfaces: rudder, elevators, and ailerons. The framework consists…
Efficient aerial data collection is important in many remote sensing applications. In large-scale monitoring scenarios, deploying a team of unmanned aerial vehicles (UAVs) offers improved spatial coverage and robustness against individual…
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…
A novel autonomous chunk-based aerial additive manufacturing framework is presented, supported with experimental demonstration advancing aerial 3D printing. An optimization-based decomposition algorithm transforms structures into…
The problem of autonomous launch and landing of a tethered rigid aircraft for airborne wind energy generation is addressed. The system operates with ground-based power conversion and pumping cycles, where the tether is repeatedly reeled in…
Visual exploration and smart data collection via autonomous vehicles is an attractive topic in various disciplines. Disturbances like wind significantly influence both the power consumption of the flying robots and the performance of the…
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…
Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs…
This paper presents an efficient risk management model for unmanned aerial vehicles or UAVs. Our proposed risk management establishes a cyclic model with a continuous and iterative structure that is very adaptable to agile methods and all…
This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…