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This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…
This study presents autonomous guidance and control strategies for the purpose of reconfiguring close-range multi-satellite formations. The formation under consideration includes $N$ under-actuated deputy satellites and an uncontrolled…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
All-electrical and programmable manipulations of ferromagnetic bits are highly pursued for the aim of high integration and low energy consumption in modern information technology. Methods based on the spin-orbit torque switching in heavy…
Flapping wing flight is a challenging dynamical problem and is also a very fascinating subject to study in the field of biomimetic robotics. A Bat, in particular, has a very articulated armwing mechanism with high degrees-of-freedom and…
This paper introduces a decentralized estimator-based safety-critical controller designed for formation control of non-holonomic mobile robots operating in communication-constrained environments. The proposed framework integrates a robust…
This paper employs Pulse Width Modulation (PWM) method to a Nonlinear Model Predictive Control (NMPC) for satellite attitude control and detumbling. Magnetic torquers have been used as actuators for the stabilization and attitude control of…
The capability of maintaining two satellites in precise relative position, stable in a celestial coordinate system, would enable major advances in a number of scientific disciplines and with a variety of types of instrumentation. The common…
Bats' dynamic morphing wings are known to be extremely high-dimensional, and they employ the combination of inertial dynamics and aerodynamics manipulations to showcase extremely agile maneuvers. Bats heavily rely on their highly flexible…
Differential drag is a promising option to control the relative motion of distributed satellites in the Very Low Earth Orbit regime which are not equipped with dedicated thrusting devices. A major downside of the methodology, however, is…
We present the first decentralized multi-copter flock that performs stable autonomous outdoor flight with up to 10 flying agents. By decentralized and autonomous we mean that all members navigate themselves based on the dynamic information…
Phased formations of satellites provide an important means of keeping multiple satellites in close proximity without becoming dangerously close to one another. In order to minimize the amount of propellant necessary to keep a set of…
For tracking and motion capture (MoCap) of animals in their natural habitat, a formation of safe and silent aerial platforms, such as airships with on-board cameras, is well suited. In our prior work we derived formation properties for…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
A novel non-reactive thrust principle based on controlling the angular momentum of a material body is proposed. Theoretically, it is shown that asymmetric emission/absorption of low-energy particle fluxes with spin in a direction…
The 3D flight control of a flapping wing robot is a very challenging problem. The robot stabilizes and controls its pose through the aerodynamic forces acting on the wing membrane which has complex dynamics and it is difficult to develop a…
This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…
This paper presents an autonomous guidance and control strategy for a satellite swarm that enables scalable distributed space structures for innovative science and business opportunities. The averaged $J_2$ orbital parameters that describe…
The paper presents a novel concept of a 3D structural metasurface with mechanically morphing capability that can be used as a transmit- or reflect-array to manipulate electromagnetic beams for applications in RF sensing and communications…
Formation flight is when multiple objects fly together in a coordination. Various automatic control methods have been used for the autonomous execution of formation flight of aerial vehicles. In this paper, the capacity of the model…