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Recent literature in the field of machine learning (ML) control has shown promising theoretical results for a Deep Neural Network (DNN) based Nonlinear Adaptive Controller (DNAC) capable of achieving trajectory tracking for nonlinear…
Flapping-Wing Micro Aerial Vehicles (FWMAVs) provide exceptional maneuverability and aerodynamic efficiency but pose significant challenges for onboard control due to nonlinear dynamics and stringent Size, Weight, and Power (SWaP)…
QuadPlanes combine the range efficiency of fixed-wing aircraft with the maneuverability of multi-rotor platforms for long-range autonomous missions. In GPS-denied or cluttered urban environments, perception-based landing is vital for…
We introduce FalconWing, an ultra-light (150 g) indoor fixed-wing UAV platform for vision-based autonomy. Controlled indoor environment enables year-round repeatable UAV experiment but imposes strict weight and maneuverability limits on the…
Vision-language-action (VLA) models have significantly advanced robotic manipulation by integrating vision-language models (VLMs), and action decoders into a unified architecture. However, their deployment on resource-constrained edge…
Running machine learning inference on tiny devices, known as TinyML, is an emerging research area. This task requires generating inference code that uses memory frugally, a task that standard ML frameworks are ill-suited for. A deployment…
Vision-language models (VLMs) serve as general-purpose end-to-end models in autonomous driving, performing subtasks such as prediction, planning, and perception through question-and-answer interactions. However, most existing methods rely…
Untethered mobile milli/microrobots hold transformative potential for interventional medicine by enabling more precise and entirely non-invasive diagnosis and therapy. Realizing this promise requires bridging the gap between groundbreaking…
Executing safe and precise flight maneuvers in dynamic high-speed winds is important for the ongoing commoditization of uninhabited aerial vehicles (UAVs). However, because the relationship between various wind conditions and its effect on…
Nano-sized unmanned aerial vehicles (UAVs) are well-fit for indoor applications and for close proximity to humans. To enable autonomy, the nano-UAV must be able to self-localize in its operating environment. This is a…
The latest satellite communication (SatCom) missions are characterized by a fully reconfigurable on-board software-defined payload, capable of adapting radio resources to the temporal and spatial variations of the system traffic. As pure…
Driven by the unprecedented high throughput and low latency requirements in next-generation wireless networks, this paper introduces an artificial intelligence (AI) enabled framework in which unmanned aerial vehicles (UAVs) use…
We present a modular framework to benchmark new and existing methods for trajectory planning and control in high-acceleration maneuvers that push autonomous driving to the limits. Our framework includes time-optimal raceline generation,…
Energy efficiency and motion smoothness are essential in trajectory planning for high-degree-of-freedom robots to ensure optimal performance and reduce mechanical wear. This paper presents a novel framework integrating sinusoidal trajectory…
This paper presents an aggressive trajectory tracking method for a small lightweight nano-quadrotor using nonlinear model predictive control (NMPC) based on acados. Controlling a nano quadrotor for accurate trajectory tracking at high speed…
While there exist many ways to deploy machine learning models on microcontrollers, it is non-trivial to choose the optimal combination of frameworks and targets for a given application. Thus, automating the end-to-end benchmarking flow is…
Quadcopters are versatile aerial robots gaining popularity in numerous critical applications. However, their operational effectiveness is constrained by limited battery life and restricted flight range. To address these challenges,…
The use of Unmanned Aerial Vehicles (UAVs) is rapidly increasing in applications ranging from surveillance and first-aid missions to industrial automation involving cooperation with other machines or humans. To maximize area coverage and…
Autonomous drone racing represents a major frontier in robotics research. It requires an Artificial Intelligence (AI) that can run on board light-weight flying robots under tight resource and time constraints, while pushing the physical…
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…