相关论文: State-Space Identification of Unmanned Helicopter …

We present a formal mathematical multi-agent modeling framework for autonomously combating a wildland fire with unmanned aerial vehicles. The problem is formulated as a collaboration between a drone and a helicopter equipped with a tanker.…

Airborne Wind Energy (AWE) refers to a novel technology capable of harvesting energy from wind by flying crosswind patterns with tethered autonomous aircraft. Successful design of flight controllers for AWE systems rely on the availability…

We study the nonlinear observability of a systems states in view of how well they are observable and what control inputs would improve the convergence of their estimates. We use these insights to develop an observability-aware…

The trajectory optimization of the atmospheric entry of a reusable launch vehicle is studied. The objective is to maximize the crossrange of the vehicle subject to two control-inequality path constraints, two state-inequality path…

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…

Accurate and robust state estimation is critical for autonomous navigation of robot teams. This task is especially challenging for large groups of size, weight, and power (SWAP) constrained aerial robots operating in perceptually-degraded…

Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…

Insects control unsteady aerodynamic forces on flapping wings to navigate complex environments. While understanding these forces is vital for biology, physics, and engineering, existing evaluation methods face trade-offs: high-fidelity…

This paper proposes a novel parametric identification approach for linear systems using Deep Learning (DL) and the Modified Relay Feedback Test (MRFT). The proposed methodology utilizes MRFT to reveal distinguishing frequencies about an…

In the present study, a numerical method based on a metaheuristic parametric algorithm has been developed to identify the constitutive parameters of hyperelastic models, by using FE simulations and full kinematic field measurements. The…

In this paper, data-driven algorithms based on Koopman Operator Theory are applied to identify and predict the nonlinear dynamics of a vapor compression system and cabin temperature in a light-duty electric vehicle. By leveraging a…

Accurate mathematical models of aerodynamic properties play an important role in the aerospace field. In some cases, system parameters of an aircraft can be estimated reliably only via flight tests. In order to obtain meaningful…

Butterfly Optimization Algorithm (BOA) is a recent metaheuristic that has been used in several optimization problems. In this paper, we propose a new version of the algorithm (xBOA) based on the crossover operator and compare its results to…

Subspace identification method (SIM) has been proven to be very useful and numerically robust for estimating state-space models. However, it is in general not believed to be as accurate as the prediction error method (PEM). Conversely, PEM,…

The attitude dynamics of aircraft and spacecraft exhibit significantly nonlinear behaviour. In spacecraft, torque is generated through reaction wheels and control moment gyros. In aircraft, torque is generated using lift on control…

This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption of the employed…

Recently, path planning has achieved remarkable progress in enhancing global search capability and convergence accuracy through heuristic and learning-inspired optimization frameworks. However, real-time adaptability in dynamic environments…

Nonlinear state-space identification for dynamical systems is most often performed by minimizing the simulation error to reduce the effect of model errors. This optimization problem becomes computationally expensive for large datasets.…

Unsteady aerodynamic models are necessary to accurately simulate forces and develop feedback controllers for wings in agile motion; however, these models are often high dimensional or incompatible with modern control techniques. Recently,…

This paper proposes a novel, more computationally efficient method for optimizing robot excitation trajectories for dynamic parameter identification, emphasizing self-collision avoidance. This addresses the system identification challenges…