相关论文: Touch the Wind: Simultaneous Airflow, Drag and Int…

In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…

To enable autonomous wind estimation for energy-efficient flight in small unmanned aerial vehicles (UAVs), this study proposes a method that estimates flight states and wind using only the low-cost essential onboard sensors required for…

Unmanned aerial vehicles (UAVs) are finding use in applications that place increasing emphasis on robustness to external disturbances including extreme wind. However, traditional multirotor UAV platforms do not directly sense wind;…

In the realm of Cyber-Physical System (CPS), accurately identifying attacks without detailed knowledge of the system's parameters remains a major challenge. When it comes to Advanced Driver Assistance Systems (ADAS), identifying the…

This paper introduces an advanced Quaternion-based Unscented Kalman Filter (QUKF) for real-time, robust estimation of system states and external wrenches in assistive aerial payload transportation systems that engage in direct physical…

Harnessing human movements to command an Unmanned Aerial Vehicle (UAV) holds the potential to revolutionize their deployment, rendering it more intuitive and user-centric. In this research, we introduce a novel methodology adept at…

Multi-object tracking (MOT) is a crucial component of situational awareness in military defense applications. With the growing use of unmanned aerial systems (UASs), MOT methods for aerial surveillance is in high demand. Application of MOT…

This paper presents a deep learning enhanced adaptive unscented Kalman filter (UKF) for predicting human arm motion in the context of manufacturing. Unlike previous network-based methods that solely rely on captured human motion data, which…

The use of state estimation technique offers a means of inferring the rotor-effective wind speed based upon solely standard measurements of the turbine. For the ease of design and computational concerns, such estimators are typically built…

While autonomous Uncrewed Aerial Vehicles (UAVs) have grown rapidly, most applications only focus on passive visual tasks. Aerial interaction aims to execute tasks involving physical interactions, which offers a way to assist humans in…

In this article, we study the well known problem of wind estimation in atmospheric turbulence using small unmanned aerial systems (sUAS). We present a machine learning approach to wind velocity estimation based on quadcopter state…

Control performance of Unmanned Aerial Vehicles (UAVs) is directly affected by their ability to estimate their states accurately. With the increasing popularity of autonomous UAV solutions in real world applications, it is imperative to…

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…

This work demonstrates an airflow inertial based odometry system with multi-sensor data fusion, including thermal anemometer, IMU, ESC, and barometer. This goal is challenging because low-cost IMUs and barometers have significant bias, and…

Autonomous proximity operations, such as active debris removal and on-orbit servicing, require high-fidelity relative navigation solutions that remain robust in the presence of parametric uncertainty. Standard estimation frameworks…

Computational Fluid Dynamics (CFD) simulations are a very important tool for many industrial applications, such as aerodynamic optimization of engineering designs like cars shapes, airplanes parts etc. The output of such simulations, in…

Attitude estimation for small, low-cost unmanned aerial vehicles is often achieved using a relatively simple complementary filter that combines onboard accelerometers, gyroscopes, and magnetometer sensing. This paper explores the limits of…

A main problem in autonomous vehicles in general, and in \acp{UAV} in particular, is the determination of the attitude angles. A novel method to estimate these angles using off-the-shelf components is presented. This paper introduces an…

Estimation of unsteady flow fields around flight vehicles may improve flow interactions and lead to enhanced vehicle performance. Although flow-field representations can be very high-dimensional, their dynamics can have low-order…

Aerial manipulation (AM) expands UAV capabilities beyond passive observation to contact-based operations at high altitudes and in otherwise inaccessible environments. Although recent advances show promise, most AM systems are developed in…