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In this paper, we present a generalized, comprehensive nonlinear mathematical model and conceptual design for the MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV) designed to bridge the gap between vertical takeoff and landing…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
This paper aims to enhance the physical layer security against potential internal eavesdroppings by exploiting the maneuverability of an unmanned aerial vehicle (UAV). We consider a scenario where two receivers with different security…
Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…
Gliding offers small fixed-wing UAVs extended endurance and silent operation but requires accurate energy management, especially under wind disturbances and obstacle constraints. Traditional Total Energy Control Systems based controllers…
This paper proposes risk-averse and risk-agnostic formulations to robust design in which solutions that satisfy the system requirements for a set of scenarios are pursued. These scenarios, which correspond to realizations of uncertain…
For multiple Unmanned-Aerial-Vehicles (UAVs) assisted Mobile Edge Computing (MEC) networks, we study the problem of combined computation and communication for user equipments deployed with multi-type tasks. Specifically, we consider that…
Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…
Collaborative planning under operational constraints is an essential capability for heterogeneous robot teams tackling complex large-scale real-world tasks. Unmanned Aerial Vehicles (UAVs) offer rapid environmental coverage, but flight time…
This article presents a novel coordination and task-planning framework to enable the simultaneous conflict-free collaboration of multiple unmanned aerial vehicles (UAVs) for aerial 3D printing. The proposed framework formulates an…
The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…
This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…
Efficient real-time trajectory planning and control for fixed-wing unmanned aerial vehicles is challenging due to their non-holonomic nature, complex dynamics, and the additional uncertainties introduced by unknown aerodynamic effects. In…
Micro aerial vehicles are becoming increasingly important in search and rescue operations due to their agility, speed, and ability to access confined spaces or hazardous areas. However, designing lightweight aerial systems presents…
This letter aims to present a novel approach for unmanned aerial vehicles (UAV)' path planning with respect to certain quality of service requirements. More specifically, we study the max-min fairness problem in an air-to-ground…
Urban Air Mobility (UAM), or the scenario where multiple manned and Unmanned Aerial Vehicles (UAVs) carry out various tasks over urban airspaces, is a transportation concept of the future that is gaining prominence. UAM missions with…
This paper introduces a high-performance artificial intelligence operating system tailored for low-altitude aviation, designed to address key challenges such as real-time task execution, computational efficiency, and seamless modular…
Computer-aided design (CAD) is a promising new area for the application of artificial intelligence (AI) and machine learning (ML). The current practice of design of cyber-physical systems uses the digital twin methodology, wherein the…
Replicating and surpassing the autonomy of natural organisms remains a long-standing goal in robotics. Yet most robotic systems have their structure, materials, and control designed separately, in sharp contrast to the co-evolution in…
Soft robots promise inherent safety via their material compliance for seamless interactions with humans or delicate environments. Yet, their development is challenging because it requires integrating materials, geometry, actuation, and…