相关论文: Modeling and Simulation of the Quadrtor Delivery S…

As quadrotors take on an increasingly diverse range of roles, researchers often need to develop new hardware platforms tailored for specific tasks, introducing significant engineering overhead. In this article, we introduce the UniQuad…

Quadrotors are widely used for surveillance, mapping, and deliveries. In several scenarios the quadrotor operates in pure inertial navigation mode resulting in a navigation solution drift. To handle such situations and bind the navigation…

Landing an unmanned aerial vehicle (UAV) on a ground marker is an open problem despite the effort of the research community. Previous attempts mostly focused on the analysis of hand-crafted geometric features and the use of external sensors…

This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and Vertical Take-Off and Landing (VTOL) hybrid vehicles. The…

Using quadrotors UAVs for cooperative payload transportation using cables has been actively gaining interest in recent years. Understanding the dynamics of these complex multi-agent systems would help towards designing safe and reliable…

This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…

As urban logistics demand continues to grow, UAV delivery has become a key solution to improve delivery efficiency, reduce traffic congestion, and lower logistics costs. However, to fully leverage the potential of UAV delivery networks,…

This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…

This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of…

This workshop paper presents the challenges we encountered when simulating fully-actuated Unmanned Aerial Vehicles (UAVs) for our research and the solutions we developed to overcome the challenges. We describe the ARCAD simulator that has…

Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…

Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…

This paper proposes an unmanned aerial vehicle (UAV)-based distributed sensing framework that uses orthogonal frequency-division multiplexing (OFDM) waveforms to detect the position of a ground target, and UAVs operate in half-duplex mode.…

In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…

Quantum computing holds transformative potential for optimizing large-scale drone fleet operations, yet its near-term limitations necessitate hybrid approaches blending classical and quantum techniques. This work introduces Quantum Unmanned…

We derived a coordinate-free form of equations of motion for a complete model of a quadrotor UAV with a payload which is connected via a flexible cable according to Lagrangian mechanics on a manifold. The flexible cable is modeled as a…

This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…

We present a robust control and estimation framework for quadrotors operating in Global Navigation Satellite System(GNSS)-denied, non-inertial environments where inertial sensors such as Inertial Measurement Units (IMUs) become unreliable…

Small multi-rotor unmanned aerial vehicles (UAVs), mainly quadcopters, are nowadays ubiquitous in research on aerial autonomy, including serving as scaled-down models for much larger aircraft such as vertical-take-off-and-lift vehicles for…

The standard quadrotor is one of the most popular and widely used aerial vehicle of recent decades, offering great maneuverability with mechanical simplicity. However, the under-actuation characteristic limits its applications, especially…