相关论文: Experimental Validation of Stable Coordination for…

Stability and satisfactory performance are critical control requirements for Unmanned Aerial Vehicle (UAV) applications. While conventional control systems for UAVs aim to ensure flight stability and safe operation while accomplishing…

This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…

Multi-robot systems rely on underlying connectivity to ensure reliable communication and timely coordination. This paper studies the line-of-sight (LoS) connectivity maintenance problem in multi-robot navigation with unknown obstacles.…

In this paper, we investigate how heterogeneous multi-robot systems with different sensing capabilities can observe a domain with an apriori unknown density function. Common coverage control techniques are targeted towards homogeneous teams…

Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic…

Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…

This paper studies the bearing-based simultaneous localization and affine formation tracking (SLAFT) control problem for fixed-wing unmanned aerial vehicles (UAVs). In the considered problem, only a small set of UAVs, named leaders, can…

Unmanned aerial vehicles (UAVs) have become very popular for many military and civilian applications including in agriculture, construction, mining, environmental monitoring, etc. A desirable feature for UAVs is the ability to navigate and…

Recent advances in robotics bring us closer to the reality of living, co-habiting, and sharing personal spaces with robots. However, it is not clear how close a co-located robot can be to a human in a shared environment without making the…

Unmanned aerial vehicles (UAVs) suffer from sensor drifts in GPS denied environments, which can cause safety issues. To avoid intolerable sensor drifts while completing the time-critical coordination task for multi-UAV systems, we propose a…

Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this…

The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…

Single locomotion robots often struggle to adapt in highly variable or uncertain environments, especially in emergencies. In this paper, a multi-modal deformable robot is introduced that can both fly and drive. Compatibility issues with…

The recent progress in unmanned aerial vehicles (UAV) technology has significantly advanced UAV-based applications for military, civil, and commercial domains. Nevertheless, the challenges of establishing high-speed communication links,…

This work considers the problem of passively monitoring multiple moving targets with a single unmanned aerial vehicle (UAV) agent equipped with a direction-finding radar. This is in general a challenging problem due to the unobservability…

The collaboration of unmanned aerial vehicles (UAVs) has become a popular research topic for its practicability in multiple scenarios. The collaboration of multiple UAVs, which is also known as aerial swarm is a highly complex system, which…

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…

As the number of Unmanned Aerial Vehicles (UAVs) operating in low-altitude airspace continues to increase, non-cooperative targets pose growing challenges to low-altitude operations. To address this issue, this paper proposes a…

Providing connectivity to unmanned aerial vehicle-user equipments such as drones or flying taxis is a major challenge for tomorrow cellular systems. In this paper, the use of coordinated multi-point transmission for providing seamless…

In this paper, we address the challenge of Multi-Object Tracking (MOT) in moving Unmanned Aerial Vehicle (UAV) scenarios, where irregular flight trajectories, such as hovering, turning left/right, and moving up/down, lead to significantly…