相关论文: Flight Control for UAV Loitering Over a Ground Tar…

Tail-sitter vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAVs) have the capability of hovering and performing efficient level flight with compact mechanical structures. We present a unified controller design for such UAVs,…

Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…

The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…

This paper addresses the problem of thrust estimation and control for the rotors of small-sized multirotors Uncrewed Aerial Vehicles (UAVs). Accurate control of the thrust generated by each rotor during flight is one of the main challenges…

A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy…

Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…

Quadrotor Morpho-Transition, or the act of transitioning from air to ground through mid-air transformation, involves complex aerodynamic interactions and a need to operate near actuator saturation, complicating controller design. In recent…

Unmanned Aerial Vehicles (UAVs) are now becoming increasingly accessible to amateur and commercial users alike. The main task for UAVs is to keep a prescribed separation with obstacles in the air. In this paper, a collision-avoidance…

This paper aims to develop a Fault Tolerant Control (FTC) architecture, for the case of a damaged actuator for a multirotor UAV that can be applied across multirotor platforms based on their Attainable Virtual Control Set (AVCS). The…

Carrier landing of aircrafts is a challenge for control due to the existence of nonlinear wind disturbances and the requirements of changing reference trajectories. In this paper, a robust landing control system is presented for carrier…

This paper addresses the problem of detecting radioactive material in transit using an UAV of minimal sensing capability, where the objective is to classify the target's radioactivity as the vehicle plans its paths through the workspace…

An image-based control strategy along with estimation of target motion is developed to track dynamic targets without motion constraints. To the best of our knowledge, this is the first work that utilizes a bounding box as image features for…

Safe operations of UAVs are of paramount importance for various mission-critical and safety-critical UAV applications. In context of airborne target tracking and following, UAVs need to track a flying target avoiding collision and also…

A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…

This paper investigates the coordinated trajectory tracking problem of multiple vertical takeooff and landing (VTOL) unmanned aerial vehicles (UAVs). The case of unidirectional information flow is considered and the objective is to drive…

This dissertation presents nonlinear tracking control systems for quadrotor unmanned aerial vehicles (UAV) under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the…

In this study, we applied reinforcement learning based on the proximal policy optimization algorithm to perform motion planning for an unmanned aerial vehicle (UAV) in an open space with static obstacles. The application of reinforcement…

The techniques of precision agriculture include the possibility to execute crop monitoring tasks through the application of Unmanned Aerial Vehicles (UAVs). These platforms are flexible, easy to use and low-cost, and they are the best…

This paper explores the problem of path planning under uncertainty. Specifically, we consider online receding horizon based planners that need to operate in a latent environment where the latent information can be modeled via Gaussian…

This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…