相关论文: Pitch Perfect: How Fruit Flies Control their Body …

Rigid grippers used in existing aerial manipulators require precise positioning to achieve successful grasps and transmit large contact forces that may destabilize the drone. This limits the speed during grasping and prevents "dynamic…

Damselflies show abrupt, darting flight, which is the envy of aero-engineers. This amazing ability is used both to capture prey and, by males, to establish territories that can attract females. In this work, high-resolution, high-speed…

We present a novel controller for fixed-wing UAVs that enables autonomous soaring in an orographic wind field, extending flight endurance. Our method identifies soaring regions and addresses position control challenges by introducing a…

Unmanned underwater vehicles are increasingly employed for maintenance and surveying tasks at sea, but their operation in shallow waters is often hindered by hydrodynamic disturbances such as waves, currents, and turbulence. These unsteady…

The size of a narrow gap traversable by a fixed-wing drone is limited by its wingspan. Inspired by birds, here, we enable the traversal of a gap of sub-wingspan width and height using a morphing-wing drone capable of temporarily sweeping in…

Fluid dynamics, and flight in particular, is a domain where organisms challenge our understanding of its physics. Integrating the current knowledge of animal flight, we propose to revisit the use of live animals to study physical phenomena.…

Dynamic manipulation, such as robot tossing or throwing objects, has recently gained attention as a novel paradigm to speed up logistic operations. However, the focus has predominantly been on the object's landing location, irrespective of…

The capacity for aerial maneuvering shaped the evolution of flying animals. Here we evaluate consequences of aviaian morphology for aerial performance (1,2) by quantifying static stability and control effectiveness of physical models (3)…

This work concerns feedback global stabilization of the sterile insect technique dynamics. The Sterile Insect Technique (SIT) is presently one of the most ecological methods for controlling insect pests responsible for crop destruction and…

Groups of aircraft have the potential to save significant amounts of energy by flying in formations; all but the leading aircraft can benefit from the upwash of the wakes of preceding aircraft. A potential obstacle as the number of aircraft…

The correlated motion of flocks is an instance of global order emerging from local interactions. An essential difference with analogous ferromagnetic systems is that flocks are active: animals move relative to each other, dynamically…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

An innovative approach of gaining insight into motor skills involved in human body flight is proposed. The key idea is the creation of a model autonomous system capable of virtually performing skydiving maneuvers. A dynamic skydiver model…

The transition of the vortex pattern and the lift generated by a heaving wing in a uniform flow was investigated numerically. Motivated by insects' flight maneuverability, we studied the relationship between a temporal change in the heaving…

We measure the reliability of signals at three levels within the blowfly visual system, and present a theoretical framework for analyzing the experimental results, starting from the Poisson process. We find that blowfly photoreceptors, up…

This paper presents a dynamic model and a control system for a flapping-wing unmanned aerial vehicle. Inspired by flight characteristics captured from live Monarch butterflies, a new dynamic model is presented to account the effects of…

Vision-based pose estimation plays a crucial role in the autonomous navigation of flight platforms. However, the field of view and spatial resolution of the camera limit pose estimation accuracy. This paper designs a divergent…

An efficient and accurate computational approach is proposed for optimal attitude control of a rigid body. The problem is formulated directly as a discrete time optimization problem using a Lie group variational integrator. Discrete…

We propose a multibody model of a freewing UAV. This model allows obtaining simulations of the UAV's behaviour and, in the future, to design a control law stabilising the entire flight envelope (hovering and forward flight). We also…

"Dynamic compensation" is a robustness property where a perturbed biological circuit maintains a suitable output [Karin O., Swisa A., Glaser B., Dor Y., Alon U. (2016). Mol. Syst. Biol., 12: 886]. In spite of several attempts, no fully…