相关论文: Systematic design methodology for development and …

The ability to enter in contact with and manipulate physical objects with a flying robot enables many novel applications, such as contact inspection, painting, drilling, and sample collection. Generally, these aerial robots need more…

This paper presents the full dynamics and control of arbitrary number of quadrotor unmanned aerial vehicles (UAV) transporting a rigid body. The rigid body is connected to the quadrotors via flexible cables where each flexible cable is…

The conceptual design of eVTOL aircraft is a high-dimensional optimization problem that involves large numbers of continuous design parameters. Therefore, eVTOL design method would benefit from numerical optimization algorithms capable of…

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…

We introduce Phantom Twist, a type of single-propeller UAV designed to achieve low visibility through high-speed spinning and the exploitation of motion blur. We develop a two-stage automated design pipeline that optimizes the placement of…

This paper addresses the problem of designing a trajectory tracking control law for a quadrotor UAV, subsequent to complete failure of a single rotor. The control design problem considers the reduced state space which excludes the angular…

Unmanned aerial vehicles (UAVs) are reaching offshore. In this work, we formulate the novel problem of a marine locomotive quadrotor UAV, which manipulates the surge velocity of a floating buoy by means of a cable. The proposed robotic…

We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinodynamic, i.e., it considers the full dynamics model of the…

This paper focuses on dynamic control allocation for a hexarotor UAV platform, considering a trajectory tracking task as as case study. It is assumed that the platform is dual-tilting, meaning that it is able to tilt each propeller…

This paper presents a review of the design and application of model predictive control strategies for Micro Aerial Vehicles and specifically multirotor configurations such as quadrotors. The diverse set of works in the domain is organized…

Interest in utilizing autonomous uncrewed aerial vehicles (UAVs) for under-canopy forest remote sensing has increased in recent years, resulting in the publication of numerous autonomous flight algorithms in the scientific literature. To…

This paper investigates tracking controls for an arbitrary number of cooperating quadrotor unmanned aerial vehicles with a suspended rigid body payload. Assuming that a rigid body is connected to multiple quadrotors by rigid massless links,…

This article presents a guidance-control design methodology for the autonomous maneuvering of tailsitter unmanned aerial systems (UAS) in hybrid flight regimes (i.e. the dynamics between VTOL and fixed wing regime). The tailsitter…

Efficient data processing and computation are essential for the industrial Internet of things (IIoT) to empower various applications, which yet can be significantly bottlenecked by the limited energy capacity and computation capability of…

Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weight constraints. Conventional approaches rely on static equilibrium conditions, where each vehicle tilts to generate the forces that…

Motivated by a winged seed, which takes advantage of a wing with high angles of attack and its associated leading-edge vortex to boost lift, we propose a powered 13.8-gram aerial robot with the maximum take-off weight of 310 mN (31.6 gram)…

Existing multirotor-based cargo transportation does not maintain a constant cargo attitude due to underactuation; however, fragile payloads may require a consistent posture. The conventional method is also cumbersome when loading cargo, and…

In modern networking research, infrastructure-assisted unmanned autonomous vehicles (UAVs) are actively considered for real-time learning-based surveillance and aerial data-delivery under unexpected 3D free mobility and coordination. In…

This paper proposes a novel observer-based controller for Vertical Take-Off and Landing (VTOL) Unmanned Aerial Vehicle (UAV) designed to directly receive measurements from a Vision-Aided Inertial Navigation System (VA-INS) and produce the…

In this paper, we present a generalized, comprehensive nonlinear mathematical model and conceptual design for the MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV) designed to bridge the gap between vertical takeoff and landing…