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In this paper, we present an application of the optimal control theory to orbital transfer of Low Earth Orbit satellites. The optimal control problem is treated with Dynamic Programming techniques which require solving the…
Motion planning for vehicles under the influence of flow fields can benefit from the idea of streamline-based planning, which exploits ideas from fluid dynamics to achieve computational efficiency. Important to such planners is an efficient…
The ocean contains a substantial amount of energy, and the efficient harvesting of this energy holds significant importance. Drawing inspiration from the biomimicry of octopus tentacles, this study introduces a synergistic mechanism…
We consider a remote sensing system in which fixed sensors are placed in a region, and a drone flies over the region to collect information from cluster heads. We assume that the drone has a fixed maximum range, and that the energy…
Appendages of seeds, fruits and other diaspores (dispersal units) are essential for their wind dispersal, as they act as wings and enable them to fly. Whirling fruits generate an auto-gyrating motion from their sepals, a leaf like…
Commonplace in oceanography is the collection of ocean drifter positions. Ocean drifters are devices that sit on the surface of the ocean and move with the flow, transmitting their position via GPS to stations on land. Using drifter data,…
Collective behavior models, such as aggregation and flocking, usually assume self-propelled robots that can directly execute their desired speed and direction of motion without fundamental constraints. However, autonomous sailing robots…
In the event of a total loss of thrust, a pilot must identify a reachable landing site and subsequently execute a forced landing. To do so, they must estimate which region on the ground can be reached safely in gliding flight. We call this…
This work is devoted to generating optimal guidance commands in real time for attitude-constrained solar sailcrafts in coplanar circular-to-circular interplanetary transfers. Firstly, a nonlinear optimal control problem is established, and…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
Autonomous micro aerial vehicles still struggle with fast and agile maneuvers, dynamic environments, imperfect sensing, and state estimation drift. Autonomous drone racing brings these challenges to the fore. Human pilots can fly a…
The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…
Multirotor unmanned aerial vehicle is a prevailing type of aircraft with wide real-world applications. Energy efficiency is a critical aspect of its performance, determining the range and duration of the missions that can be performed. In…
Inspired by birds flying through cluttered environments such as dense forests, this paper studies the theoretical foundations of a novel motion planning problem: high-speed navigation through a randomly-generated obstacle field when only…
In this paper, the selective predator harvesting is considered in a predator prey system. The logistic growth of prey and ratio-dependent functional response is assumed. The dynamically varying effort is employed for selective harvesting of…
In this work, a set of motion primitives is defined for use in an energy-aware motion planning problem. The motion primitives are defined as sequences of control inputs to a simplified four-DOF dynamics model and are used to replace the…
This paper discusses a low-cost, open-source and open-hardware design and performance evaluation of a low-speed, multi-fan wind system dedicated to micro air vehicle (MAV) testing. In addition, a set of experiments with a flapping wing MAV…
We designed and built a three degrees-of-freedom (DOF) flapping wing robot, Flapperoo, to study the aerodynamic benefits of wing folding and twisting. Forces and moments of this physical model are measured in wind tunnel tests over a…
On the basis of the author's earlier results, a new source function for a numerical wind-wave model optimized by the criterion of accuracy and speed of calculation is substantiated. The proposed source function includes (a) an optimized…
Planning a time-optimal trajectory for aerial robots is critical in many drone applications, such as rescue missions and package delivery, which have been widely researched in recent years. However, it still involves several challenges,…