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

System identification is a key step for model-based control, estimator design, and output prediction. This work considers the offline identification of partially observed nonlinear systems. We empirically show that the certainty-equivalent…

This paper presents a comprehensive approach to nonlinear dynamics identification for UAVs using a combination of data-driven techniques and theoretical modeling. Two key methodologies are explored: Proportional-Derivative (PD)…

Unmanned aircraft systems can perform some more dangerous and difficult missions than manned aircraft systems. In some highly complicated and changeable tasks, such as air combat, the maneuvering decision mechanism is required to sense the…

Autonomous drone technology holds significant promise for enhancing search and rescue operations during evacuations by guiding humans toward safety and supporting broader emergency response efforts. However, their application in dynamic,…

Uncrewed aerial vehicles (UAVs) are increasingly deployed in complex networked environments, yet the joint optimization of multi-UAV motion control and connectivity remains a fundamental challenge. In this paper, we study a multi-UAV system…

This paper presents an estimation and control algorithm for an aerial manipulator using a hexacopter with a 2-DOF robotic arm. The unknown parameters of a payload are estimated by an on-line estimator based on parametrization of the aerial…

This work presents a neural network model capable of recognizing small and tiny objects in thermal images collected by unmanned aerial vehicles. Our model consists of three parts, the backbone, the neck, and the prediction head. The…

Accurate agricultural weed mapping using unmanned aerial vehicles (UAVs) is crucial for precision farming. While traditional methods rely on rigid, pre-defined flight paths and intensive offline processing, informative path planning (IPP)…

Unmanned aerial vehicles are becoming common and have many productive uses. However, their increased prevalence raises safety concerns -- how can we protect restricted airspace? Knowing the type of unmanned aerial vehicle can go a long way…

A data-driven computational heuristic is proposed to control MIMO systems without prior knowledge of their dynamics. The heuristic is illustrated on a two-input two-output balance system. It integrates a self-adjusting nonlinear threshold…

In recent years, Onboard Self Localization (OSL) methods based on cameras or Lidar have achieved many significant progresses. However, some issues such as estimation drift and feature-dependence still remain inherent limitations. On the…

This paper reports on an algorithm for planning trajectories that allow a multirotor micro aerial vehicle (MAV) to quickly identify a set of unknown parameters. In many problems like self calibration or model parameter identification some…

We present a path planning framework that takes into account the human's safety perception in the presence of a flying robot. The framework addresses two objectives: (i) estimation of the uncertain parameters of the proposed safety…

Reinforcement learning is of increasing importance in the field of robot control and simulation plays a~key role in this process. In the unmanned aerial vehicles (UAVs, drones), there is also an increase in the number of published…

Health monitoring of remote critical infrastructure is a complex and expensive activity due to the limited infrastructure accessibility. Inspection drones are ubiquitous assets that enhance the reliability of critical infrastructures…

A new framework for nonlinear system identification is presented in terms of optimal fitting of stable nonlinear state space equations to input/output/state data, with a performance objective defined as a measure of robustness of the…

Path Planning methods for autonomously controlling swarms of unmanned aerial vehicles (UAVs) are gaining momentum due to their operational advantages. An increasing number of scenarios now require autonomous control of multiple UAVs, as…

Weeds significantly reduce crop yields worldwide and pose major challenges to sustainable agriculture. Traditional weed management methods, primarily relying on chemical herbicides, risk environmental contamination and lead to the emergence…

In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…

Perching allows unmanned aerial vehicles (UAVs) to reduce energy consumption, remain anchored for surface sampling operations, or stably survey their surroundings. Previous efforts for perching on vertical surfaces have predominantly…