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This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…
This paper presents an omnidirectional aerial manipulation platform for robust and responsive interaction with unstructured environments, toward the goal of contact-based inspection. The fully actuated tilt-rotor aerial system is equipped…
This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…
Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…
Improving sampling efficiency and generalization capability is critical for the successful data-driven control of quadrotor unmanned aerial vehicles (UAVs) that are inherently unstable. While various reinforcement learning (RL) approaches…
This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…
We propose a geometric control framework on $SE(3)$ for quadrotors that enforces pointing-driven missions without completing a full attitude reference. The mission is encoded through virtual constraints defining a task manifold and an…
In this paper, we present a novel developmental reinforcement learning-based controller for a quadcopter with thrust vectoring capabilities. This multirotor UAV design has tilt-enabled rotors. It utilizes the rotor force magnitude and…
A Vertical Takeoff and Landing (VTOL) aircraft is capable of short/vertical takeoffs and landings, thus eliminating the requirement of long runways. This feature makes them suitable for a broader variety of missions, generally not…
This paper studies the motion planning problem of the pick-and-place of an aerial manipulator that consists of a quadcopter flying base and a Delta arm. We propose a novel partially decoupled motion planning framework to solve this problem.…
Over-the-air computation (AirComp) provides a promising way to support ultrafast aggregation of distributed data. However, its performance cannot be guaranteed in long-distance transmission due to the distortion induced by the channel…
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aerial platform consists of a humanoid torso attached to a…
Traditional vertical take-off and landing (VTOL) aircraft can not achieve optimal efficiency for various payload weights and has limited mobility due to its under-actuation. With the thrust-vectoring mechanism, the proposed modular team UAV…
This paper presents a new flight control framework for tilt-rotor multirotor uncrewed aerial vehicles (MRUAVs). Tiltrotor designs offer full actuation but introduce complexity in control allocation due to actuator redundancy. We propose a…
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…
This paper presents and validates active interaction force control and planning for fully actuated and omnidirectional aerial manipulation platforms, with the goal of aerial contact inspection in unstructured environments. We present a…
Unmanned Aerial Vehicles (UAVs), or drones, have recently been used in several civil application domains from organ delivery to remote locations to wireless network coverage. These platforms, however, are naturally unstable systems for…
This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…
The world we live in is full of technology and with each passing day the advancement and usage of UAVs increases efficiently. As a result of the many application scenarios, there are some missions where the UAVs are vulnerable to external…