Related papers: Sensorless State Estimation and Control for Agile …
Heterogeneous robot teams used in marine environments incur time-and-energy penalties when the marine vehicle has to halt the mission to allow the autonomous aerial vehicle to land for recharging. In this paper, we present a solution for…
The proliferation of unmanned aerial vehicles (UAVs) in controlled airspace presents significant risks, including potential collisions, disruptions to air traffic, and security threats. Ensuring the safe and efficient operation of airspace,…
In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…
Recent major oil-spills were tracked using observations with sufficient altitudes over the sea surface, to detect oil slick locations. For oil-spill responders, we propose a captive Unmanned Aerial System, UAS acting like a periscope over a…
This study presents mechatronic design, dynamic modeling, simulations and real-time control experiments of a new movable scaffolding system. The proposed system consists of a 3 degrees-of-freedom movable platform, which can be positioned on…
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…
The rapid advancement of Internet of Things (IoT) services and the evolution toward the sixth generation (6G) have positioned unmanned aerial vehicles (UAVs) as critical enablers of low-altitude wireless networks (LAWNs). This work…
This paper presents a novel control method for a group of UAVs in obstacle-laden environments while preserving sensing network connectivity without data transmission between the UAVs. By leveraging constraints rooted in control barrier…
Many cable management tasks involve separating out the different cables and removing tangles. Automating this task is challenging because cables are deformable and can have combinations of knots and multiple interwoven segments. Prior works…
Unmanned aerial vehicles (UAVs) provide a novel means of extracting road and traffic information from video data. In particular, by analyzing objects in a video frame, UAVs can detect traffic characteristics and road incidents. Leveraging…
Path planning methods for the unmanned aerial vehicle (UAV) in goods delivery have drawn great attention from industry and academics because of its flexibility which is suitable for many situations in the "Last Kilometer" between customer…
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…
The prevention of the loss of control in agile aircraft during the extreme maneuvers is of concern due to the nonlinear aerodynamics and flight dynamics nature of the aircraft in this study. Within this context, the primary objective is to…
This paper employs Geometric Algebra (GA) tools to model the dynamics of objects in 3-dimensional space, serving as a proof of concept to facilitate control design for trajectory tracking in underactuated systems. For control purposes, the…
We present two distributed methods for the estimation of the kinematic parameters, the dynamic parameters, and the kinematic state of an unknown planar body manipulated by a decentralized multi-agent system. The proposed approaches rely on…
The research on aerial manipulation systems has been increased rapidly in recent years. These systems are very attractive for a wide range of applications due to their unique features. However, dynamics, control and manipulation tasks of…
Effective solutions for intelligent data collection in terrestrial cellular networks are crucial, especially in the context of Internet of Things applications. The limited spectrum and coverage area of terrestrial base stations pose…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…