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This paper discusses the conceptual design and proof-of-concept flight demonstration of a novel variable pitch quadrotor biplane Unmanned Aerial Vehicle concept for payload delivery. The proposed design combines vertical takeoff and landing…

Model Predictive Control (MPC) is widely adopted for agile multirotor vehicles, yet achieving both stability and obstacle-free flight is particularly challenging when a payload is suspended beneath the airframe. This paper introduces a…

Take-off and landing are the most important maneuvers for an aircraft's flight. Deployment for small fixed-wing aircraft is usually made by hand but when payload increases, take-off, and landing maneuvers are then performed on a runway…

In this article the implementation of a controller and specifically of a Model Predictive Controller (MPC) on an Edge Computing device, for controlling the trajectory of an Unmanned Aerial Vehicle (UAV) model, is examined. MPC requires more…

Quadcopters are versatile aerial robots gaining popularity in numerous critical applications. However, their operational effectiveness is constrained by limited battery life and restricted flight range. To address these challenges,…

This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…

Quantum error correction (QEC) is considered a deciding component in enabling practical quantum computing. Stabilizer codes, and in particular topological surface codes, are promising candidates for implementing QEC by redundantly encoding…

Safety concerns during the operation of legged robots must be addressed to enable their widespread use. Machine learning-based control methods that use model-based constraints provide promising means to improve robot safety. This study…

The control problem of a multi-copter swarm, mechanically coupled through a modular lattice structure of connecting rods, is considered in this article. The system's structural elasticity is considered in deriving the system's dynamics. The…

Safety is always the priority in aviation. However, current state-of-the-art passive fault-tolerant control is too conservative to use; current state-of-the-art active fault-tolerant control requires time to perform fault detection and…

Traditional control methods are inadequate in many deployment settings involving control of Cyber-Physical Systems (CPS). In such settings, CPS controllers must operate and respond to unpredictable interactions, conditions, or failure…

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…

We construct a trajectory tracking controller for a quadrotor system by finding a coordinate change which transforms the quadrotor's vector field into that of a thrust propelled system. In a thrust propelled system, the goal is to stabilize…

The success probability of a quantum algorithm constructed from noisy quantum gates cannot be accurately predicted from single parameter metrics that compare noisy and ideal gates. We illustrate this concept by examining a system with…

This study presents a framework to guarantee safety for a class of second-order nonlinear systems under multiple state and input constraints. To facilitate real-world applications, a safety-critical controller must consider multiple…

The quadrotor is a $6$ degrees-of-freedom (DoF) system with underactuation. Adding a spherical pendulum on top of a quadrotor further complicates the task of achieving any output tracking while stabilizing the rest. In this report, we…

Agile flight for the quadrotor cable-suspended payload system is a formidable challenge due to its underactuated, highly nonlinear, and hybrid dynamics. Traditional optimization-based methods often struggle with high computational costs and…

Unmanned Aerial Vehicle (UAV) quadrotor is a UAV with four rotors. The quadrotor control is a difficult task because the four-wheel system is inefficient. The purpose of this paper is to provide specifications and implement a separate quad…

Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…

Attitude stabilization of unmanned aerial vehicles (UAVs) in uncertain environments presents significant challenges due to nonlinear dynamics, parameter variations, and sensor limitations. This paper presents a comparative study of…