相关论文: Optimal-power Configurations for Hover Solutions i…
Precise control of hyperfine matterwaves via Raman excitations is instrumental to a class of atom-based quantum technology. We investigate the Raman spinor control technique for alkaline atoms in an intermediate regime of single-photon…
Advanced Air Mobility aircraft require energy efficient flight plans to be economically viable. This paper defines minimum energy direct trajectories between waypoints for Lift+Cruise electric Vertical Take-Off and Landing (eVTOL) aircraft.…
We analyze the simultaneous time-optimal control of two-spin systems. The two non coupled spins which differ in the value of their chemical offsets are controlled by the same magnetic fields. Using an appropriate rotating frame, we restrict…
Drones, like most airborne aerial vehicles, face inherent disadvantages in achieving agile flight due to their limited thrust capabilities. These physical constraints cannot be fully addressed through advancements in control algorithms…
We present SMORS, the first Soft fully actuated MultirOtoR System for multimodal locomotion. Unlike conventional hexarotors, SMORS is equipped with three rigid and three continuously soft arms, with each arm hosting a propeller. We create a…
Motivated by recent neutron and x-ray observations in V$_2$O$_3$, we derive the effective Hamiltonian in the strong coupling limit of an Hubbard model with three degenerate t_{2g} states containing two electrons coupled to spin S = 1, and…
This paper presents an integrated approach for efficient path planning and energy management in hybrid unmanned aerial vehicles (HUAVs) equipped with dual fuel-electric propulsion systems. These HUAVs operate in environments that include…
In this paper, we investigate an optimal design problem motivated by some issues arising in population dynamics. In a nutshell, we aim at determining the optimal shape of a region occupied by resources for maximizing the survival ability of…
In this paper, we study the resource allocation and trajectory design for energy-efficient secure unmanned aerial vehicle (UAV) communication systems where a UAV base station serves multiple legitimate ground users in the existence of a…
In this paper, we consider a (rough) kinematic model for a UAV flying at constant altitude moving forward with positive lower and upper bounded linear velocities and positive minimum turning radius.For this model, we consider the problem of…
Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…
Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…
This paper proposes a generalised propulsion energy consumption model (PECM) for rotary-wing ummanned aerial vehicles (UAVs) under the consideration of the practical thrust-to-weight ratio (TWR) with respect to the velocity, acceleration…
Multicopters are becoming increasingly important in both civil and military fields. Currently, most multicopter propulsion systems are designed by experience and trial-and-error experiments, which are costly and ineffective. This paper…
Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework for autonomous dynamic soaring with a…
Manipulation performance improvement is crucial for aerial robots. For aerial manipulators, the baselink position and attitude errors directly affect the precision at the end effector. To address this stability problem, fixed-body…
We explore the rotational stability of hovering flight. Our model is motivated by an experimental pyramid-shaped object and a computational lambda-shaped analog hovering passively in oscillating airflows; both systems have been shown to…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air…
We theoretically study the stationary-state vortex lattice configurations of rotating spin-orbit- and coherently-coupled spin-1 Bose-Einstein condensates trapped in quasi-two-dimensional harmonic potentials. The combined effects of…