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The existing control barrier function literature generally relies on precise mathematical models to guarantee system safety, limiting their applicability in scenarios with parametric uncertainties. While incremental control techniques have…

Safe autonomous landing for Unmanned Aerial Vehicles (UAVs) in populated areas is a crucial aspect for successful urban deployment, particularly in emergency landing situations. Nonetheless, validating autonomous landing in real scenarios…

A robot making contact with an environment or human presents potential safety risks, including excessive collision force. While experiments on the effect of robot inertia, relative velocity, and interface stiffness on collision are in…

The growing use of robots in urban environments has raised concerns about potential safety hazards, especially in public spaces where humans and robots may interact. In this paper, we present a system for safe human-robot interaction that…

The quadrotor is popularly used in challenging environments due to its superior agility and flexibility. In these scenarios, trajectory planning plays a vital role in generating safe motions to avoid obstacles while ensuring flight…

Landing a quadrotor on an inclined surface is a challenging maneuver. The final state of any inclined landing trajectory is not an equilibrium, which precludes the use of most conventional control methods. We propose a deep reinforcement…

Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that…

When it is tried to control drones, there are many different ways through various devices, using either motions like facial motion, special gloves with sensors, red, green, blue cameras on the laptop or even using smartwatches by performing…

Learning-based methods, particularly Reinforcement Learning (RL), hold great promise for streamlining deployment, enhancing performance, and achieving generalization in the control of autonomous multirotor aerial vehicles. Deep RL has been…

Obstacle avoidance for small unmanned aircraft is vital for the safety of future urban air mobility (UAM) and Unmanned Aircraft System (UAS) Traffic Management (UTM). There are many techniques for real-time robust drone guidance, but many…

The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…

Reinforcement learning (RL) has emerged as a powerful paradigm for achieving online agile navigation with quadrotors. Despite this success, policies trained via standard RL typically fail to generalize across significant dynamic variations,…

Low cost real-time identification of multirotor unmanned aerial vehicle (UAV) dynamics is an active area of research supported by the surge in demand and emerging application domains. Such real-time identification capabilities shorten…

Using a game engine, we have developed a virtual environment which models important aspects of critical incident scenarios. We focused on modelling phenomena relating to the identification and gathering of key forensic evidence, in order to…

As the market for commercially available unmanned aerial vehicles (UAVs) booms, there is an increasing number of small, teleoperated or autonomous aircraft found in protected or sensitive airspace. Existing solutions for removal of these…

Modular Aerial Robot Systems (MARS) comprise multiple drone units with reconfigurable connected formations, providing high adaptability to diverse mission scenarios, fault conditions, and payload capacities. However, existing control…

We explore sim-to-real transfer of deep reinforcement learning controllers for a heavy vehicle with active suspensions designed for traversing rough terrain. While related research primarily focuses on lightweight robots with electric…

Most aerial manipulators use serial rigid-link designs, which results in large forces when initiating contacts during manipulation and could cause flight stability difficulty. This limitation could potentially be improved by the compliance…

The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area with many open challenges. Fully-actuated multirotors have been introduced to tackle some of these challenges.…

Reference governors are add-on schemes that are used to modify trajectories to prevent controlled dynamical systems from violating constraints and so are playing an increasingly important role in aerospace, robotic, and other engineering…