Related papers: Acceleration-Based Control of Fixed-Wing UAVs for …
Vision-Language Navigation (VLN) for Unmanned Aerial Vehicles (UAVs) demands complex visual interpretation and continuous control in dynamic 3D environments. Existing hierarchical approaches rely on dense oracle guidance or auxiliary object…
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…
Recently, learning-based controllers have been shown to push mobile robotic systems to their limits and provide the robustness needed for many real-world applications. However, only classical optimization-based control frameworks offer the…
This paper investigates the control problem of dual-arm unmanned aerial manipulator systems (DAUAMs). Strong coupling between the dual-arm and the multirotor platform, together with unmodeled dynamics and external disturbances, poses…
This paper develops a new guidance law for powered descent landing of a rocket-powered vehicle. The proposed law derives the acceleration command for a point mass model of the vehicle by expressing velocity as a dynamical system undergoing…
Morphing aerial vehicles offer enhanced maneuverability and fuel efficiency compared to fixed-wing configurations. However, the trade-off between performance gains and control cost in dynamic, unsteady maneuvers remains under-explored. This…
This study explores the dynamics of asymmetrical bounding gaits in quadrupedal robots, focusing on the integration of torso pitching and hip motion to enhance speed and stability. Traditional control strategies often enforce a fixed…
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…
Communication-aware trajectory generation for unmanned aerial vehicles (UAVs) operating in urban environments requires simultaneous consideration of vehicle dynamics, wireless communication quality, obstacle avoidance, and onboard energy…
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…
For the dynamic analysis of floating offshore wind turbines (FOWTs) in realistic operating environment, this paper develops a coupled aero-hydro-mooring-servo model applicable to turbulent wind and irregular sea states with high…
In this paper, we consider a platform of flying mobile edge computing (F-MEC), where unmanned aerial vehicles (UAVs) serve as equipment providing computation resource, and they enable task offloading from user equipment (UE). We aim to…
We present a novel controller for fixed-wing UAVs that enables autonomous soaring in an orographic wind field, extending flight endurance. Our method identifies soaring regions and addresses position control challenges by introducing a…
Due to the inability to receive signals from the Global Navigation Satellite System (GNSS) in extreme conditions, achieving accurate and robust navigation for Unmanned Aerial Vehicles (UAVs) is a challenging task. Recently emerged,…
The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…
This letter investigates the transmit power and trajectory optimization problem for unmanned aerial vehicle (UAV)-aided networks. Different from majority of the existing studies with fixed communication infrastructure, a dynamic scenario is…
Navigation precision, speed and stability are crucial for safe Unmanned Aerial Vehicle (UAV) flight maneuvers and effective flight mission executions in dynamic environments. Different flight missions may have varying objectives, such as…
To overcome the limitations of current parafoil precision landing capabilities, an efficient real-time convex optimized guidance and control strategy is presented. Successive convexification of the parafoil guidance problem guarantees local…
A nonparametric adaptive controller is proposed for crane control where the payload tracks a desired trajectory with feedback from the payload position. The controller is based on a novel version of partial feedback linearization where the…
We present a switching scheme, which uses both the attitude-error quaternion (AEQ) and the angular-velocity error, for controlling the rotational degrees of freedom of an uncrewed aerial vehicle (UAV) during flight. In this approach, the…