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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 work demonstrates universal dynamic perching capabilities for quadrotors of various sizes and on surfaces with different orientations. By employing a non-dimensionalization framework and deep reinforcement learning, we systematically…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
Unmanned Aerial Vehicles (UAV)-enabled communication is a promising solution for secure air-to-ground (A2G) networks due to the additional secure degrees of freedom afforded by mobility. However, the jittering characteristics caused by the…
Autonomous unmanned aerial vehicles (UAVs) that can execute aggressive (i.e., high-speed and high-acceleration) maneuvers have attracted significant attention in the past few years. This paper focuses on accurate tracking of aggressive…
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on complementarity constraints is proposed to determine the optimal…
A robust auto-landing problem of a Truss-braced Wing (TBW) regional jet aircraft with poor stability characteristics is presented in this study employing a Fuzzy Reinforcement Learning scheme. Reinforcement Learning (RL) has seen a recent…
Reliable real-time 3D localization is essential for multi-UAV navigation, collision avoidance, and coordinated flight, yet onboard estimates can degrade under GNSS multipath, non-line-of-sight reception, vertical drift, and intentional…
The techniques of precision agriculture include the possibility to execute crop monitoring tasks through the application of Unmanned Aerial Vehicles (UAVs). These platforms are flexible, easy to use and low-cost, and they are the best…
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…
Nano-UAV teams offer great agility yet face severe navigation challenges due to constrained onboard sensing, communication, and computation. Existing approaches rely on high-resolution vision or compute-intensive planners, rendering them…
Achieving precise, highly-dynamic maneuvers with Unmanned Aerial Vehicles (UAVs) is a major challenge due to the complexity of the associated aerodynamics. In particular, unsteady effects -- as might be experienced in post-stall regimes or…
Stability and satisfactory performance are critical control requirements for Unmanned Aerial Vehicle (UAV) applications. While conventional control systems for UAVs aim to ensure flight stability and safe operation while accomplishing…
This paper presents a simulation framework able of modeling the dynamics of a hanging tether with adjustable length, connecting a UAV to a UGV. The model incorporates the interaction between the UAV, UGV, and a winch, allowing for dynamic…
Autonomous drone navigation faces a critical challenge in achieving accurate landings on dynamic platforms, especially under unpredictable conditions such as wind turbulence. Our research introduces TornadoDrone, a novel Deep Reinforcement…
In this work, we present a pragmatic approach to enable unmanned aerial vehicle (UAVs) to autonomously perform highly complicated tasks of object pick and place. This paper is largely inspired by challenge-2 of MBZIRC 2020 and is primarily…
Unmanned Aerial Vehicles (UAVs) are crucial in Search and Rescue (SAR) missions due to their ability to monitor vast maritime areas. However, small objects often remain difficult to detect from high altitudes due to low object-to-background…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
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…
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…