Related papers: Nonlinear System Identification Nano-drone Benchma…
The use of aerial drones for commercial and defense applications has benefited in many ways and is therefore utilized in several different application domains. However, they are also increasingly used for targeted attacks, posing a…
Safety and security issues for Critical Infrastructures are growing as attackers adopt drones as an attack vector flying in sensitive airspaces, such as airports, military bases, city centers, and crowded places. Despite the use of UAVs for…
UAVs, commonly referred to as drones, have witnessed a remarkable surge in popularity due to their versatile applications. These cyber-physical systems depend on multiple sensor inputs, such as cameras, GPS receivers, accelerometers, and…
Detecting UAVs is becoming more crucial for various industries such as airports and nuclear power plants for improving surveillance and security measures. Exploiting radio frequency (RF) based drone control and communication enables a…
Accurate 3D pose estimation of drones is essential for security and surveillance systems. However, existing methods often rely on prior drone information such as physical sizes or 3D meshes. At the same time, current datasets are…
Motivated by security needs in unmanned aerial system (UAS) operations, an algorithm for identifying airspace intruders (e.g., birds vs. drones) is developed. The algorithm is structured to use sensed intruder velocity data from…
In this paper, we introduce advances in the sensor suite of an autonomous flying insect robot (FIR) weighing less than a gram. FIRs, because of their small weight and size, offer unparalleled advantages in terms of material cost and…
This paper explores the process of designing an automatic multi-sensor drone detection system. Besides the common video and audio sensors, the system also includes a thermal infrared camera, which is shown to be a feasible solution to the…
Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…
Accurate system identification is crucial for reducing trajectory drift in bipedal locomotion, particularly in reinforcement learning and model-based control. In this paper, we present a novel control framework that integrates system…
Nanodrone swarm is formulated by multiple light-weight and low-cost nanodrones to perform the tasks in very challenging environments. Therefore, it is essential to estimate the relative position of nanodrones in the swarm for accurate and…
Obtaining predictive low-order models is a central challenge in fluid dynamics. Data-driven frameworks have been widely used to obtain low-order models of aerodynamic systems; yet, resulting models tend to yield predictions that grow…
Drone detection is a challenging object detection task where visibility conditions and quality of the images may be unfavorable, and detections might become difficult due to complex backgrounds, small visible objects, and hard to…
In this work, we present and evaluate a method to perform real-time multiple drone detection and three-dimensional localization using state-of-the-art tiny-YOLOv4 object detection algorithm and stereo triangulation. Our computer vision…
Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…
This paper considers a single-trajectory system identification problem for linear systems under general nonlinear and/or time-varying policies with i.i.d. random excitation noises. The problem is motivated by safe learning-based control for…
The goal of this article is twofold. Firstly, nonlinear system identification is introduced to a wide audience, guiding practicing engineers and newcomers in the field to a sound solution of their data driven modeling problems for nonlinear…
Systems exhibiting nonlinear dynamics, including but not limited to chaos, are ubiquitous across Earth Sciences such as Meteorology, Hydrology, Climate and Ecology, as well as Biology such as neural and cardiac processes. However, System…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
The identification of a nonlinear dynamic model is an open topic in control theory, especially from sparse input-output measurements. A fundamental challenge of this problem is that very few to zero prior knowledge is available on both the…