相关论文: Systematic design methodology for development and …
In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…
Accurate real-time wind vector estimation is essential for enhancing the safety, navigation accuracy, and energy efficiency of unmanned aerial vehicles (UAVs). Traditional approaches rely on external sensors or simplify vehicle dynamics,…
To meet the requirements for managing unauthorized UAVs in the low-altitude economy, a multi-modal UAV trajectory prediction method based on the fusion of LiDAR and millimeter-wave radar information is proposed. A deep fusion network for…
Bidirectional thrust grants quadrotors a second equilibrium condition and increased control authority, expanding the envelope of possible aggressive maneuvers and enabling inverted flight, perching, and sensing. Prior geometric control…
First-order reinforcement learning with differentiable simulation is promising for quadrotor control, but practical progress remains fragmented across task-specific settings. To support more systematic development and evaluation, we present…
Unmanned aerial vehicles, or drones, have the potential to significantly reduce the cost and time of making last-mile deliveries and responding to emergencies. Despite this potential, little work has gone into developing vehicle routing…
Cycloidal propellers are known for their omnidirectional vectored thrust, enabling smooth transitions between hovering and forward flight, making them ideal for unmanned aerial vehicles (UAVs) and electric vertical take-off and landing…
This paper describes an investigation of the possible benefits from wing optimisation in improving the performance of Micro Air Vehicles (MAVs). As an example we study the Avion (3.64 kg mass, 1.60 m span), being designed at the CSIR…
Future unmanned aerial vehicles (drones) will be shared by multiple users and will have to operate in conditions where their fully-autonomous function is required. Calculation of a drones trajectory will be important but optimal…
This paper proposes a novel algorithm for aerobatic trajectory generation for a vertical take-off and landing (VTOL) tailsitter flying wing aircraft. The algorithm differs from existing approaches for fixed-wing trajectory generation, as it…
This paper is focused on tracking control for a rigid body payload, that is connected to an arbitrary number of quadrotor unmanned aerial vehicles via rigid links. A geometric adaptive controller is constructed such that the payload…
To address the challenges of localization drift and perception-planning coupling in unmanned aerial vehicles (UAVs) operating in open-top scenarios (e.g., collapsed buildings, roofless mazes), this paper proposes EAROL, a novel framework…
A Nonlinear PID (NLPID) controller is proposed to stabilize the translational and rotational motion of a 6-DOF UAV quadrotor system and enforce it to track a given trajectory with minimum energy and error. The complete nonlinear model of…
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.…
Agile quadrotor flight in challenging environments has the potential to revolutionize shipping, transportation, and search and rescue applications. Nonlinear model predictive control (NMPC) has recently shown promising results for agile…
This paper presents a novel design for finite-time position control of quadrotor Unmanned Aerial Vehicles (UAVs). A robust, finite-time, nonlinear feedback controller is introduced to reject bounded disturbances in tracking tasks. The…
Electric vertical-takeoff and landing (eVTOL) aircraft, recognized for their maneuverability and flexibility, offer a promising alternative to our transportation system. However, the operational effectiveness of these aircraft faces many…
Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath the airframe. This paper introduces a…
Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package delivery. Cables are a promising option for manipulation…
Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task specification, e.g., increasing the payload. This applies to…