Related papers: Sensorless State Estimation and Control for Agile …
Unmanned Aerial Vehicles (UAVs) have been emerging as an effective solution for IoT data collection networks thanks to their outstanding flexibility, mobility, and low operation costs. However, due to the limited energy and uncertainty from…
This paper studies the leaderless formation flying problem with collision avoidance for a group of unmanned aerial vehicles (UAVs), which requires the UAVs to navigate through cluttered environments without colliding while maintaining the…
With the ease of deployment, capabilities of evading the jammers and obscuring their existence, unmanned aerial vehicles (UAVs) are one of the most suitable candidates to perform surveillance. There exists a body of literature in which the…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
In this paper we study the distance-based docking problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to…
The paper presents a movement strategy for Connected and Automated Vehicles (CAVs) in a lane-free traffic environment with vehicle nudging by use of an optimal control approach. State-dependent constraints on control inputs are considered…
Inspired by biological swimming and flying with distributed sensing, we propose a data-driven approach for load estimation that relies on complex networks. We exploit sparse, real-time pressure inputs, combined with pre-trained transition…
We investigate how to utilize predictive models for selecting appropriate motion planning strategies based on perception uncertainty estimation for agile unmanned aerial vehicle (UAV) navigation tasks. Although there are variety of motion…
The paper introduces an interactive machine learning mechanism to process the measurements of an uncertain, nonlinear dynamic process and hence advise an actuation strategy in real-time. For concept demonstration, a trajectory-following…
This paper studies an unmanned aerial vehicle (UAV)-enabled wireless sensor network, in which one UAV flies in the sky to collect the data transmitted from a set of sensors via distributed beamforming. We consider the delay-sensitive…
We present an optimal control-based strategy to enhance the estimation of impulse-like disturbances in continuously monitored linear classical and quantum systems by exploiting non-equilibrium states. Using optimal estimation techniques for…
[Accepted to IROS 2025] In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles(UAVs), where model inaccuracies can lead to large tracking errors. Existing Nonlinear Model Predictive…
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…
This study describes the development of a novel numerical optimization framework to maximize the endurance of unmanned aerial vehicles (UAVs). We address the problem of numerically determining the optimal thrust and cruise angle of attack…
We study the dynamics and the optimization of the shock deceleration supported by a payload when its airborne carrier impacts the ground. We build a nonlinear elastic model for a container prototype and an elastic suspension system for the…
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…
We present the coordinate-free dynamics of three different quadrotor systems : (a) single quadrotor with a point-mass payload suspended through a flexible cable; (b) multiple quadrotors with a shared point-mass payload suspended through…
In this work, we propose a dynamic landing solution without the need for onboard exteroceptive sensors and an expensive computation unit, where all localization and control modules are carried out on the ground in a non-inertial frame. Our…
A cable-driven soft-bodied robot with redundancy can conduct the trajectory tracking task and in the meanwhile fulfill some extra constraints, such as tracking through an end-effector in designated orientation, or get rid of the evitable…
In this letter, we present a model for quadrotor unmanned aerial vehicles (UAVs), including control, communication, and wireless charging. In so doing, we investigate associated energy and battery dynamics. Indeed, energy and battery…