相关论文: Dynamic System Identification, and Control for a c…
Motion planning is an essential process for the navigation of unmanned aerial vehicles (UAVs) where they need to adapt to obstacles and different structures of their operating environment to reach the goal. This paper presents an optimal…
An approach is proposed for high resolution 3D reconstruction of an object using a Micro Air Vehicle (MAV). A system is described which autonomously captures images and performs a dense 3D reconstruction via structure from motion with no…
Multi-object tracking (MOT) from unmanned aerial vehicles (UAVs) presents unique challenges due to unpredictable object motion, frequent occlusions, and limited appearance cues inherent to aerial viewpoints. These issues are further…
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…
Perching on the moving platforms is a promising solution to enhance the endurance and operational range of quadrotors, which could benefit the efficiency of a variety of air-ground cooperative tasks. To ensure robust perching, tracking with…
Visually guided control of micro aerial vehicles (MAV) demands for robust real-time perception, fast trajectory generation, and a capable flight platform. We present a fully autonomous MAV that is able to pop balloons, relying only on…
Unmanned Aerial Vehicles (UAVs) play a crucial role in meteorological research, particularly in environmental wind field measurements. However, several challenges exist in current wind measurement methods using UAVs that need to be…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
The coupling disturbance between the manipulator and the unmanned aerial vehicle (UAV) deteriorates the control performance of system. To get high performance of the aerial manipulator, a robust fractional order fast terminal sliding mode…
Reliable midair docking between small unmanned aerial vehicles (UAVs) is essential for modular aerial cooperation and manipulation, but it requires precise relative-pose control and repeatable platform under tight thrust and payload…
Disturbance estimation for Micro Aerial Vehicles (MAVs) is crucial for robustness and safety. In this paper, we use novel, bio-inspired airflow sensors to measure the airflow acting on a MAV, and we fuse this information in an Unscented…
This paper presents an adaptive modified Robust Inverse of Signum Error (AM-RISE) control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aerial vehicle. The proposed method systematically accounts for…
Unmanned Aerial Vehicles (UAVs) will be critical infrastructural components of future smart cities. In order to operate efficiently, UAV reliability must be ensured by constant monitoring for faults and failures. To this end, the work…
In this paper, we present a real-time system identification method based on relay feedback testing with applications to multirotor unmanned aerial vehicles. The proposed identification method provides an alternative to the expensive lab…
The accurate localization and tracking of dynamic targets, such as equipment, people, vehicles, drones, robots, and the assets that they interact with in GPS-denied indoor environments is critical to enabling safe and efficient operations…
This paper presents a novel model predictive control (MPC) approach for autonomous pick-and-place between moving platforms with a hook-equipped aerial manipulator. First, for accurate and rapid modeling of the complex dynamics, a digital…
This paper presents, for the first time, the soft planar vertical take-off and landing (Soft-PVTOL) aircraft. This concept captures the soft aerial vehicle's fundamental dynamics with a minimum number of states and inputs but retains the…
Marine robots must maintain precise control and ensure safety during tasks like ocean monitoring, even when encountering unpredictable disturbances that affect performance. Designing algorithms for uncrewed surface vehicles (USVs) requires…
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving…
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…