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This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…
Drones are being used in many industries for a variety of applications, including inspecting bridges, surveying farm land, and delivering cargo. Automating these kinds of scenarios requires more than following a sequence of GPS waypoints;…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
We present a novel investigation into the impact of inter-drone interference on delivery efficiencies within multi-drone skyway networks. We conduct controlled experiments to analyze the behavior of drones in an indoor testbed environment.…
For end-to-end autonomous driving (E2E-AD), the evaluation system remains an open problem. Existing closed-loop evaluation protocols usually rely on simulators like CARLA being less realistic; while NAVSIM using real-world vision data, yet…
Quadcopters are increasingly used for applications ranging from hobby to industrial products and services. This paper serves as a tutorial on the design, simulation, implementation, and experimental outdoor testing of digital quadcopter…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Experimental flight tests are reported about quadrotors UAVs via a recent model-free control (MFC) strategy, which is easily implementable. We show that it is possible to achieve acrobatic rate control of the UAV, which is beyond the…
UAVs are becoming versatile and valuable platforms for various applications. However, the main limitation is their flying time. We present BEAVIS, a novel aerial robotic platform striking an unparalleled trade-off between the…
We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…
Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this…
This article introduces a safe control strategy for application of forces to an external object using a dexterous robotic arm mounted on an unmanned Aerial Vehicle (UAV). A hybrid force-motion controller has been developed for this purpose.…
This study aims to design a motion/force controller for an aerial manipulator which guarantees the tracking of time-varying motion/force trajectories as well as the stability during the transition between free and contact motions. To this…
In recent years, the proliferation of unmanned aerial vehicles (UAVs) has increased dramatically. UAVs can accomplish complex or dangerous tasks in a reliable and cost-effective way but are still limited by power consumption problems, which…
Inverted landing is a routine behavior among a number of animal fliers. However, mastering this feat poses a considerable challenge for robotic fliers, especially to perform dynamic perching with rapid body rotations (or flips) and landing…
Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a…
As machine learning is increasingly deployed in autonomous systems, verification of neural network controllers is becoming an active research domain. Existing tools and annual verification competitions suggest that soon this technology will…
Autonomous drone racing requires powerful perception, planning, and control and has become a benchmark and test field for autonomous, agile flight. Existing work usually assumes static race tracks with known maps, which enables offline…
In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…
In this paper, we propose a reachable set based collision avoidance algorithm for unmanned aerial vehicles (UAVs). UAVs have been deployed for agriculture research and management, surveillance and sensor coverage for threat detection and…