相关论文: A Staged Approach to Evolving Real-world UAV Contr…

The spacecraft attitude tracking problem is addressed with actuator faults and uncertainties among inertias, external disturbances, and, in particular, state estimates. A continuous sliding mode attitude controller is designed using…

Insects and birds are often faced by opposing requirements for agile and stable flight. Here, we explore the interplay between aerodynamic effort, maneuverability, and stability in a model system that consists of a $\Lambda$-shaped flyer…

Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system…

New quadrotor UAV control algorithms are developed, based on nonlinear surfaces composed of tracking errors that evolve directly on the nonlinear configuration manifold, thus inherently including in the control design the nonlinear…

Satellite dynamics in unknown environments are inherently uncertain due to factors such as varying gravitational fields, atmospheric drag, and unpredictable interactions with space debris or other celestial bodies. Traditional sliding mode…

Autonomous UAV racing has recently emerged as an interesting research problem. The dream is to beat humans in this new fast-paced sport. A common approach is to learn an end-to-end policy that directly predicts controls from raw images by…

Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…

This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…

Navigation is a fundamental capability for mobile robots. While the current trend is to use learning-based approaches to replace traditional geometry-based methods, existing end-to-end learning-based policies often struggle with 3D spatial…

This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…

This paper introduces an innovative methodology for object manipulation on the surface of water through the collaboration of an Unmanned Aerial Vehicle (UAV) and an Unmanned Surface Vehicle (USV) connected to the object by tethers. We…

Unsteady aerodynamic effects can have a profound impact on aerial vehicle flight performance, especially during agile maneuvers and in complex aerodynamic environments. In this paper, we present a real-time planning and control approach…

Underwater navigation is a challenging area in the field of mobile robotics due to inherent constraints in self-localisation and communication in underwater environments. Some of these challenges can be mitigated by using collaborative…

Traditional approaches to quadruped control frequently employ simplified, hand-derived models. This significantly reduces the capability of the robot since its effective kinematic range is curtailed. In addition, kinodynamic constraints are…

Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may…

Encrypted dynamic controllers that operate for an unlimited time have been a challenging subject of research. The fundamental difficulty is the accumulation of errors and scaling factors in the internal state during operation.…

Reinforcement Learning is a promising tool for learning complex policies even in fast-moving and object-interactive domains where human teleoperation or hard-coded policies might fail. To effectively reflect this challenging category of…

We present a new approach for designing risk-bounded controllers for Uncrewed Aerial Vehicles (UAVs). Existing frameworks for assessing risk of UAV operations rely on knowing the conditional probability of an incident occurring given…

In recent years, with the increasing maturity of UAV technology, the application of UAV in the civilian field has seen explosive growth due to their low cost, high flexibility, and wide adaptability. In order to address the drawbacks of…

In this paper, we study the joint 3D placement of unmanned aerial vehicles (UAVs) and UAVs-users association under bandwidth limitation and quality of service constraint. In particular, in order to allow to UAVs to dynamically improve their…