相关论文: Automated Flight Test and System Identification fo…

This paper addresses the problem of identifying different flow environments from sparse data collected by wing strain sensors. Insects regularly perform this feat using a sparse ensemble of noisy strain sensors on their wing. First, we…

Characterization of the frequency response of coherent radiometric receivers is a key element in estimating the flux of astrophysical emissions, since the measured signal depends on the convolution of the source spectral emission with the…

As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…

This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…

In recent years many procedures have been proposed to check the anisotropy of a dataset. We present a new simple procedure, based on a scale dependent approach, to detect anisotropy signatures in a given distribution with particular…

This paper surveys how formal verification can be used to prove the correctness of ad hoc routing protocols, which are fundamental infrastructure of wireless sensor networks. The existing techniques fall into two classes: verification on…

This book provides a solution to the control and motion planning design for an octocopter system. It includes a particular choice of control and motion planning algorithms which is based on the authors' previous research work, so it can be…

In this paper, we present a control design methodology, stability criteria, and performance bounds for autonomous helicopter aerial refueling. Autonomous aerial refueling is particularly difficult due to the aerodynamic interaction between…

The RTS smoother is widely used for state estimation and it is utilized here to increase the data quality with respect to physical coherence and to increase resolution. The purpose of this paper is to enhance the performance of the RTS…

Unmanned aerial systems (UAS) rely on various avionics systems that are safety-critical and mission-critical. A major requirement of international safety standards is to perform rigorous system-level testing of avionics software systems.…

This paper presents an efficient method for estimating the probability of conflict between air traffic within a block of airspace. Autonomous Sense-and-Avoid is an essential safety feature to enable Unmanned Air Systems to operate alongside…

The frequency response function (FRF) is an established way to describe the outcome of experiments in posture control literature. The FRF is an empirical transfer function between an input stimulus and the induced body segment sway profile,…

Multirotors are usually desired to enter confined narrow tunnels that are barely accessible to humans in various applications including inspection, search and rescue, and so on. This task is extremely challenging since the lack of geometric…

This paper aims at the teaching contents of "Fluctuation and Regulation in Speed of Machines" for students, explores the effect of the flywheel on the speed regulation of the mechanism system and its influencing factors, designs an…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…

This study explores modeling and control for quadrotor acrobatics, focusing on executing flip maneuvers. Flips are an elegant way to deliver sensor probes into no-fly or hazardous zones, like volcanic vents. Successful flips require…

We consider a motorized aircraft tethered to a central anchorage point in a configuration similar to a control line model airplane. For this system, we address the problem of automatic take-off and landing (ATOL) with a circular path, whose…

This article describes the application of a credible autocoding framework for control systems towards a nonlinear car controller example. The framework generates code, along with guarantees of high level functional properties about the code…

With the continuing advances in scientific instrumentation, scanning microscopes are now able to image physical systems with up to sub-atomic-level spatial resolutions and sub-picosecond time resolutions. Commensurately, they are generating…