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Tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) have the capability of hovering and performing efficient level flight with compact mechanical structures. We present a unified controller design for such UAVs,…
As aerial robots gain traction in industrial applications, there is growing interest in enhancing their physical interaction capabilities. Pushing tasks performed by aerial manipulators have been successfully demonstrated in contact-based…
While Unmanned Aerial Vehicles (UAVs) are increasingly deployed in several missions, their inability of reliable and consistent autonomous landing poses a major setback for deploying such systems truly autonomously. In this paper we present…
This paper presents an equivariant reinforcement learning framework for quadrotor unmanned aerial vehicles. Successful training of reinforcement learning often requires numerous interactions with the environments, which hinders its…
This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…
The present work is concerned with the shape optimization of flapping wings in forward flight. The analysis is performed by combining a gradient-based optimizer with the unsteady vortex lattice method (UVLM). We describe the UVLM…
The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more…
Gesture recognition presents a promising avenue for interfacing with unmanned aerial vehicles (UAVs) due to its intuitive nature and potential for precise interaction. This research conducts a comprehensive comparative analysis of…
Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We believe that these limits gain paramount importance when the…
This paper explores the mathematical modelling and 3D design of a tilt-rotor quadrotor aircraft. The aircraft is a VTOL design and has capacity for one pilot. The design incorporates a part manual part automatic computerised flight control…
Quadrotors are indispensable in civilian, industrial, and military domains, undertaking complex, high-precision tasks once reserved for specialized systems. Across all contexts, energy efficiency remains a critical constraint: quadrotors…
This paper presents a comprehensive modeling and control framework for a low-cost multirotor hybrid aerial-aquatic vehicle (MHAUV) capable of seamless air-water transitions. A hybrid dynamics model is proposed to account for the distinct…
Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weight constraints. Conventional approaches rely on static equilibrium conditions, where each vehicle tilts to generate the forces that…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…
In this paper we provide an optimal control based strategy to explore feasible trajectories of nonlinear systems, that is to find curves that satisfy the dynamics as well as point-wise state-input constraints. The strategy is interesting…
Aerial manipulation (AM) promises to move Unmanned Aerial Vehicles (UAVs) beyond passive inspection to contact-rich tasks such as grasping, assembly, and in-situ maintenance. Most prior AM demonstrations rely on external motion capture…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
This research endeavors to design the perching maneuver and control in ornithopter robots. By analyzing the dynamic interplay between the robot's flight dynamics, feedback loops, and the environmental constraints, we aim to advance our…
Multi-rotor Unmanned Aerial Vehicles (UAVs) need to tilt in order to move; this modifies the UAV's antenna orientation. We consider the scenario where a multi-rotor UAV serves as a communication relay between a Base Station (BS) and another…