Related papers: Uncertainty-Aware 3D UAV Tracking Using Single-Anc…
The expectation of unmanned air vehicles (UAVs) pushes the operation environment to narrow spaces, where the systems may fly very close to an object and perform an interaction. This phase brings the variation in UAV dynamics: thrust and…
We present a waypoint planning algorithm for an unmanned aerial vehicle (UAV) that is teamed with an unmanned ground vehicle (UGV) for the task of search and rescue in a subterranean environment. The UAV and UGV are teamed such that the…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
Single visual object tracking from an unmanned aerial vehicle (UAV) poses fundamental challenges such as object occlusion, small-scale objects, background clutter, and abrupt camera motion. To tackle these difficulties, we propose to…
Ultra-wideband (UWB) has shown promising potential in GPS-denied localization thanks to its lightweight and drift-free characteristics, while the accuracy is limited in real scenarios due to its sensitivity to sensor arrangement and…
Millimeter wave (mmWave) communications can potentially meet the high data-rate requirements of unmanned aerial vehicle (UAV) networks. However, as the prerequisite of mmWave communications, the narrow directional beam tracking is very…
The interaction of robots with bendable objects in midair presents significant challenges in control, often resulting in performance degradation and potential crashes, especially for aerial robots due to their limited actuation capabilities…
Fixed-wind unmanned aerial vehicles (UAVs) are essential for low cost aerial surveillance and mapping applications in remote regions. One of the main limitations of UAVs is limited fuel capacity and hence requires periodic refueling to…
This paper develops a comprehensive analytical framework for modeling and performance evaluation of unmanned aerial vehicles (UAVs)-to-ground quantum communication links, incorporating key physical impairments such as beam divergence,…
Unmanned aerial vehicles (UAV) showed great potential in improving the efficiency of parcel delivery applications in the coming smart cities era. Unfortunately, the trustworthy positioning and control algorithms of the UAV are significantly…
Accurate indoor positioning for unmanned aerial vehicles (UAVs) is critical for logistics, surveillance, and emergency response applications, particularly in GPS-denied environments. Existing indoor localization methods, including optical…
This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…
Accurate localization is essential for a wide range of applications, including asset tracking, smart agriculture, and animal monitoring. While traditional localization methods, such as Global Navigation Satellite System (GNSS), Wi-Fi, and…
Accurate localization using visual information is a critical yet challenging task, especially in urban environments where nearby buildings and construction sites significantly degrade GNSS (Global Navigation Satellite System) signal…
An unmanned aircraft system (UAS) consists of an unmanned aerial vehicle (UAV) and its controller which use radios to communicate. While the remote controller (RC) is traditionally operated by a person who is maintaining visual line of…
This paper presents a new Lyapunov-based nonlinear model predictive controller (LNMPC) for the attitude control problem of unmanned aerial vehicles (UAVs), which is essential for their functioning operation. The controller is designed based…
Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…
Unmanned aerial vehicles (UAVs) with on-board cameras are widely used for remote surveillance and video capturing applications. In remote virtual reality (VR) applications, multiple UAVs can be used to capture different partially…
This paper presents a novel approach to enhance sensing capabilities in UAV-enabled MIMO-OFDM ISAC systems by leveraging UAV mobility as a mono-static radar. By integrating uniform planar arrays (UPAs) and modeling the UAV dynamics in…
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced…