相关论文: Toward Increased Airspace Safety: Quadrotor Guidan…

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…

Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…

This paper focuses on developing a bearings-only measurement-based three-dimensional window traversal guidance method for quadrotor Uninhabitated Aerial Vehicles (UAVs). The desired flight path and heading angles of the quadrotor are…

The rapid development of unmanned aerial vehicles (UAV) puts forward a higher requirement for autonomous obstacle avoidance. Due to the limited payload and power supply, small UAVs such as quadrotors usually carry simple sensors and…

This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…

Unmanned Aircraft Vehicles (UAVs) are becoming a crucial tool in modern warfare, primarily due to their cost-effectiveness, risk reduction, and ability to perform a wider range of activities. The use of autonomous UAVs to conduct strike…

Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in…

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…

This paper presents a novel approach to utilizing underactuated quadrotor Unmanned Aerial Vehicles (UAVs) as assistive devices in cooperative payload transportation task through human guidance and physical interaction. The proposed system…

In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…

Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…

In practical applications, autonomous quadrotors are still facing significant challenges, such as the detection and avoidance of very small and even dynamic obstacles (e.g., tree branches, power lines). In this paper, we propose a compact,…

Commercial UAVs are an emerging security threat as they are capable of carrying hazardous payloads or disrupting air traffic. To counter UAVs, we introduce an autonomous 3D target encirclement and interception strategy. Unlike traditional…

This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…

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…

This paper addresses the problem of real-time vision-based autonomous obstacle avoidance in unstructured environments for quadrotor UAVs. We assume that our UAV is equipped with a forward facing stereo camera as the only sensor to perceive…

This paper presents our method for enabling a UAV quadrotor, equipped with a monocular camera, to autonomously avoid collisions with obstacles in unstructured and unknown indoor environments. When compared to obstacle avoidance in ground…

This paper provides new results for control of complex flight maneuvers for a quadrotor unmanned aerial vehicle (UAV). The flight maneuvers are defined by a concatenation of flight modes or primitives, each of which is achieved by a…

This letter describes a method for autonomous aerial cinematography with distributed lighting by a team of unmanned aerial vehicles (UAVs). Although camera-carrying multi-rotor helicopters have become commonplace in cinematography, their…

Unmanned aerial vehicles are becoming common and have many productive uses. However, their increased prevalence raises safety concerns -- how can we protect restricted airspace? Knowing the type of unmanned aerial vehicle can go a long way…