相关论文: A robust but easily implementable remote control f…
Designing effective low-level robot controllers often entail platform-specific implementations that require manual heuristic parameter tuning, significant system knowledge, or long design times. With the rising number of robotic and…
Over the past several decades there has been a constant increase in the use of Unmanned Aerial Systems (UAS). Hence, there has also been a growth in the number of control algorithms to service the many applications embodied by these…
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distributed navigation algorithm certified by control barrier…
We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of…
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…
In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…
Nonlinear Model Predictive Control (NMPC) is widely used for controlling high-speed robotic systems such as quadrotors. However, its significant computational demands often hinder real-time feasibility and reliability, particularly in…
Autonomous drone racing has risen as a challenging robotic benchmark for testing the limits of learning, perception, planning, and control. Expert human pilots are able to fly a drone through a race track by mapping pixels from a single…
To participate in the Outback Medical Express UAV Challenge 2016, a vehicle was designed and tested that can hover precisely, take-off and land vertically, fly fast forward efficiently and use computer vision to locate a person and a…
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…
Autonomous flight of micro air vehicles (MAVs) in unknown, cluttered environments remains challenging for time-critical missions due to conservative maneuvering strategies. This article presents an integrated planning and control framework…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters, however, are relatively sensitive to noises and…
This paper proposes a flight controller for an unmanned aerial vehicle (UAV) to loiter over a ground moving target (GMT). We are concerned with the scenario that the stochastically time-varying maneuver of the GMT is unknown to the UAV,…
In this work, we propose a cascaded scheme of linear Model prediction Control (MPC) based on Control Barrier Functions (CBF) with Dynamic Feedback Linearization (DFL) for Vertical Take-off and Landing (VTOL) Unmanned Aerial Vehicles (UAVs).…
This paper experimentally evaluates continuum deformation cooperative control for the first time. Theoretical results are expanded to place a bounding triangle on the leader-follower system such that the team is contained despite nontrivial…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
In this article, we propose a control solution for the safe transfer of a quadrotor UAV between two surface robots positioning itself only using the visual features on the surface robots, which enforces safety constraints for precise…
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control. Static as well as moving obstacles are considered. Central…