相关论文: Autonomous Quadrotor Flight despite Rotor Failure …

Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

The ability of aerial robots to operate in the presence of failures is crucial in various applications that demand continuous operations, such as surveillance, monitoring, and inspection. In this paper, we propose a fault-tolerant control…

We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous…

We address one of the main challenges towards autonomous quadrotor flight in complex environments, which is flight through narrow gaps. While previous works relied on off-board localization systems or on accurate prior knowledge of the gap…

Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…

Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…

Traditionally, controllers and state estimators in robotic systems are designed independently. Controllers are often designed assuming perfect state estimation. However, state estimation methods such as Visual Inertial Odometry (VIO) drift…

This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…

Quadrotors are among the most agile flying robots. Despite recent advances in learning-based control and computer vision, autonomous drones still rely on explicit state estimation. On the other hand, human pilots only rely on a…

This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…

This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of a rotor. This cascaded control method includes a…

Autonomous swarms of multi-Unmanned Aerial Vehicle (UAV) system requires an accurate and fast relative state estimation. Although monocular frame-based camera methods perform well in ideal conditions, they are slow, suffer scale ambiguity,…

This paper proposes a fault-tolerant control strategy based on a tilt-rotor quadcopter prototype, utilizing nonlinear model predictive control to maintain both attitude and position stability in the event of rotor failure. The control…

Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…

Event cameras are a promising candidate to enable high speed vision-based control due to their low sensor latency and high temporal resolution. However, purely event-based feedback has yet to be used in the control of drones. In this work,…

This paper considers the problem of controlling a quadrotor to go through a window and land on a planar target, the landing pad, using an Image-Based Visual Servo (IBVS) controller that relies on sensing information from two on-board…

In this study, a fault-tolerant super-twisting sliding mode controller with a control allocation system for a quadrotor aircraft is proposed. Super twisting sliding mode control is a robust control technique that handles a system with a…

Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…

In this paper, we introduce a complete system for autonomous flight of quadrotors in dynamic environments with onboard sensing. Extended from existing work, we develop an occlusion-aware dynamic perception method based on depth images,…

This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…