相关论文: Learning Pugachev's Cobra Maneuver for Tail-sitter…

For the aerial manipulator that performs aerial work tasks, the actual operating environment it faces is very complex, and it is affected by internal and external multi-source disturbances. In this paper, to effectively improve the…

Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL)…

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…

Aerial insects exhibit highly agile maneuvers such as sharp braking, saccades, and body flips under disturbance. In contrast, insect-scale aerial robots are limited to tracking non-aggressive trajectories with small body acceleration. This…

We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…

This paper applies the UAV to the inspection of water diversion pipelines in hydropower stations. The diversion pipeline is an enclosed space, so the airflow disturbance caused by the rotation of the UAV blades and the strong air convection…

This study presents a machine learning-aided approach to accurately estimate the region of attraction (ROA) of a multi-rotor unmanned aerial vehicle (UAV) controlled using a linear quadratic regulator (LQR) controller. Conventional ROA…

Visual tracking has yielded promising applications with unmanned aerial vehicle (UAV). In literature, the advanced discriminative correlation filter (DCF) type trackers generally distinguish the foreground from the background with a learned…

This paper presents a novel solution for UAV control in cooperative multi-robot systems, which can be used in various scenarios such as leader-following, landing on a moving base, or specific relative motion with a target. Unlike classical…

This work proposes a novel control and estimation approach for aerial manipulation of a cable-suspended load using Unmanned Aerial Vehicles (UAVs). Common approaches in the state of the art have practical limitations, relying on direct load…

A real-time motion training system for skydiving is proposed. Aerial maneuvers are performed by changing the body posture and thus deflecting the surrounding airflow. The natural learning process is extremely slow due to unfamiliar…

This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

The recent development of novel aerial vehicles capable of physically interacting with the environment leads to new applications such as contact-based inspection. These tasks require the robotic system to exchange forces with…

In this paper, we present a control design methodology, stability criteria, and performance bounds for autonomous helicopter aerial refueling. Autonomous aerial refueling is particularly difficult due to the aerodynamic interaction between…

A testbed has recently been introduced that evolves controllers for arbitrary hover-capable UAVs, with evaluations occurring directly on the robot. To prepare the testbed for real-world deployment, we investigate the effects of state-space…

This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classical discrete-time retrospective cost adaptive control…

The paper presents a two-stage stochastic program to model a routing problem involving an Unmanned Aerial Vehicle (UAV) in the context of patrolling missions. In particular, given a set of targets and a set of supplemental targets…

The realization of motion description is a challenging work for fixed-wing Unmanned Aerial Vehicle (UAV) acrobatic flight, due to the inherent coupling problem in ranslational-rotational motion. This paper aims to develop a novel maneuver…

There is a growing need for uncrewed aerial vehicles (UAVs) to operate in cities. However, the uneven urban landscape and complex street systems cause large-scale wind gusts that challenge the safe and effective operation of UAVs. Current…