Related papers: Robust Co-design Optimisation for Agile Fixed-Wing…
The emerging low-altitude economy has catalyzed the large-scale deployment of unmanned aerial vehicles (UAVs), driving a paradigm shift in environment monitoring, logistics, and emergency response. However, operating within these…
Optimizing the design of complex systems requires navigating interdependent decisions, heterogeneous components, and multiple objectives. Our monotone theory of co-design offers a compositional framework for addressing this challenge,…
Over the last few decades, multicopters have become significantly popular because of their various applications. However, multicopters suffer from poor endurance performance as compared to other aircraft configurations with lifting…
Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework for autonomous dynamic soaring with a…
The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…
Development of robust dynamical systems and networks such as autonomous aircraft systems capable of accomplishing complex missions faces challenges due to the dynamically evolving uncertainties coming from model uncertainties, necessity to…
The design and control of winged aircraft and drones is an iterative process aimed at identifying a compromise of mission-specific costs and constraints. When agility is required, shape-shifting (morphing) drones represent an efficient…
The collective operation of robots, such as unmanned aerial vehicles (UAVs) operating as a team or swarm, is affected by their individual capabilities, which in turn is dependent on their physical design, aka morphology. However, with the…
Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…
The design and optimisation of aircraft wings are critical tasks in aerospace engineering, requiring a balance between structural integrity, aerostructural performance, and manufacturability. This multifaceted challenge involves the…
Unmanned Aerial Vehicles (UAVs) have become pivotal in domains spanning military, agriculture, surveillance, and logistics, revolutionizing data collection and environmental interaction. With the advancement in drone technology, there is a…
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including wind field disturbances, sudden obstacles,…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
Co-design optimization strategies usually rely on simplified robot models extracted from CAD. While these models are useful for optimizing geometrical and inertial parameters for robot control, they might overlook important details…
This paper studies a heterogeneous Unmanned Aerial Vehicles (UAVs) cooperative search approach suitable for complex environments. In the application, a fixed-wing UAV drops rotor UAVs to deploy the cluster rapidly. Meanwhile, the fixed-wing…
We present a versatile framework for the computational co-design of legged robots and dynamic maneuvers. Current state-of-the-art approaches are typically based on random sampling or concurrent optimization. We propose a novel bilevel…
This paper addresses modeling and control of a six-degree-of-freedom unmanned aerial vehicle capable of vertical take-off and landing in the presence of wind disturbances. We design a hybrid vehicle that combines the benefits of both the…
The design of autonomous underwater vehicles (AUVs) and their docking stations has been a popular research topic for several decades. Although many AUV and dock designs have been proposed, materialized, and commercialized, most of these…