相关论文: Multirotors from Takeoff to Real-Time Full Identif…

The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required…

Vision based control of Unmanned Aerial Vehicles (UAVs) has been adopted by a wide range of applications due to the availability of low-cost on-board sensors and computers. Tuning such systems to work properly requires extensive domain…

In this paper, we present a real-time system identification method based on relay feedback testing with applications to multirotor unmanned aerial vehicles. The proposed identification method provides an alternative to the expensive lab…

This paper proposes a novel parametric identification approach for linear systems using Deep Learning (DL) and the Modified Relay Feedback Test (MRFT). The proposed methodology utilizes MRFT to reveal distinguishing frequencies about an…

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…

The rise of unmanned aerial vehicle (UAV) operations, as well as the vulnerability of the UAVs' sensors, has led to the need for proper monitoring systems for detecting any abnormal behavior of the UAV. This work addresses this problem by…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

Detecting fast-moving objects, such as unmanned aerial vehicle (UAV), from event camera data is challenging due to the sparse, asynchronous nature of the input. Traditional Discrete Fourier Transforms (DFT) are effective at identifying…

Autonomous navigation in unknown complex environment is still a hard problem, especially for small Unmanned Aerial Vehicles (UAVs) with limited computation resources. In this paper, a neural network-based reactive controller is proposed for…

Unmanned Aerial Vehicles (UAV) can pose a major risk for aviation safety, due to both negligent and malicious use. For this reason, the automated detection and tracking of UAV is a fundamental task in aerial security systems. Common…

The unmanned aerial manipulator system, consisting of a multirotor UAV (unmanned aerial vehicle) and a manipulator, has attracted considerable interest from researchers. Nevertheless, the operation of a dual-arm manipulator poses a dynamic…

Multi-camera full-body pose capture of humans and animals in outdoor environments is a highly challenging problem. Our approach to it involves a team of cooperating micro aerial vehicles (MAVs) with on-board cameras only. The key…

The unique cost, flexibility, speed, and efficiency of modern UAVs make them an attractive choice in many applications in contemporary society. This, however, causes an ever-increasing number of reported malicious or accidental incidents,…

Identifying the fault in propellers is important to keep quadrotors operating safely and efficiently. The simulation-to-reality (sim-to-real) UAV fault diagnosis methods provide a cost-effective and safe approach to detecting propeller…

Recurrent Neural Networks (RNNs) can encode rich dynamics which makes them suitable for modeling dynamic systems. To train an RNN for multi-step prediction of dynamic systems, it is crucial to efficiently address the state initialization…

Deep Reinforcement Learning (DRL) is widely used to optimize the performance of multi-UAV networks. However, the training of DRL relies on the frequent interactions between the UAVs and the environment, which consumes lots of energy due to…

Unmanned aerial vehicle (UAV) detection and aerial object recognition are critical for modern surveillance and security, prompting a need for robust systems that overcome limitations of single-modality approaches. This research addresses…

UAV control system is a huge and complex system, and to design and test a UAV control system is time-cost and money-cost. This paper considered the simulation of identification of a nonlinear system dynamics using artificial neural networks…

Multi-object tracking (MOT) from unmanned aerial vehicles (UAVs) presents unique challenges due to unpredictable object motion, frequent occlusions, and limited appearance cues inherent to aerial viewpoints. These issues are further…

Attitude control of fixed-wing unmanned aerial vehicles (UAVs) is a difficult control problem in part due to uncertain nonlinear dynamics, actuator constraints, and coupled longitudinal and lateral motions. Current state-of-the-art…