相关论文: Direct NMPC for Post-Stall Motion Planning with Fi…

This paper studies a rechargeable unmanned aerial vehicle (UAV) assisted wireless network, where a UAV is dispatched to disseminate information to a group of ground terminals (GTs) and returns to a recharging station (RS) before the…

This work proposes a nonlinear model predictive control-based guidance strategy for unmanned surface vehicles, focused on path following. The application of this strategy, in addition to overcome drawbacks of previous line-of-sight-based…

Unmanned aerial vehicles (UAVs), especially fixed-wing ones that withstand strong winds, have great potential for oceanic exploration and research. This paper studies a UAV-aided maritime data collection system with a fixed-wing UAV…

Unmanned aerial vehicle (UAV)-assisted communication becomes a promising technique to realize the beyond fifth generation (5G) wireless networks, due to the high mobility and maneuverability of UAVs which can adapt to heterogeneous…

Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends heavily on effective collision avoidance techniques. This…

A novel framework is proposed for the trajectory design of multiple unmanned aerial vehicles (UAVs) based on the prediction of users' mobility information. The problem of joint trajectory design and power control is formulated for…

This paper addresses the challenging problem of robust path-following for fixed-wing unmanned aerial vehicles (UAVs) in complex environments with bounded external disturbances and non-smooth predefined paths. Due to the unique aerodynamic…

Modeling and control of nonlinear dynamics are critical in robotics, especially in scenarios with unpredictable external influences and complex dynamics. Traditional cascaded modular control pipelines often yield suboptimal performance due…

Safely integrating unmanned aerial vehicles into civil airspace is contingent upon development of a trustworthy collision avoidance system. This paper proposes an approach whereby a parameterized resolution logic that is considered trusted…

Post-disaster situations pose unique navigation challenges. One of those challenges is the unstructured nature of the environment, which makes it hard to layout paths for rescue vehicles. We propose the use of Uncrewed Aerial Vehicle (UAV)…

For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…

Efficient data collection methods play a major role in helping us better understand the Earth and its ecosystems. In many applications, the usage of unmanned aerial vehicles (UAVs) for monitoring and remote sensing is rapidly gaining…

This paper addresses the path following control problem for scale-model fixed-wing aircraft. Kinematic guidance and dynamic control laws are developed within a single coherent framework that exploits a simple generic model of aerodynamics…

In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength…

This paper presents a method of finding the shortest path for an unmanned aerial vehicle (UAV) flying from an initial point to a target line at a constant altitude. The length of a Dubins path is derived as a function of the final position…

It is challenging to model and control a tail-sitter unmanned aerial vehicle (UAV) because its blended wing body generates complicated nonlinear aerodynamic effects, such as wing lift, fuselage drag, and propeller-wing interactions. We…

Owing to the controlling flexibility and cost-effectiveness, fixed-wing unmanned aerial vehicles (UAVs) are expected to serve as flying base stations (BSs) in the air-ground integrated network. By exploiting the mobility of UAVs,…

Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…

Path tracking (PT) controllers capable of replicating race driving techniques, such as drifting beyond the limits of handling, have the potential of enhancing active safety in critical conditions. This paper presents a nonlinear model…

Path planning methods for the unmanned aerial vehicle (UAV) in goods delivery have drawn great attention from industry and academics because of its flexibility which is suitable for many situations in the "Last Kilometer" between customer…