相关论文: A novel hypothesis for how albatrosses optimize th…

In this letter, we reveal a universal, very simple extremum seeking natural feedback law and mechanism that governs, adapts, and generates in real-time, optimized lift variations for successful energy gain flight in presence of wind shear.…

For centuries, soaring birds -- such as albatrosses and eagles -- have been mysterious and intriguing for biologists, physicists, aeronautical/control engineers, and applied mathematicians. These fascinating biological organisms have the…

Albatrosses can travel a thousand kilometers daily over the oceans. This feat is achieved through dynamic soaring, a non-flapping flight strategy where propulsive energy is extracted from horizontal wind shears. Dynamic soaring has been…

Dynamic soaring allows seabirds to harvest mechanical energy from vertical wind shear, but field trajectories lack a benchmark for comparing flight performances across species. We derive a reduced lower bound on transport effort from a…

Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We propose a framework for autonomous dynamic soaring with a…

In this paper, we take an initial and novel step toward characterizing the physics of the hovering phenomenon in flapping insects and hummingbirds as a new class of extremum seeking (ES) feedback systems. By characterizing hovering flight…

Soaring birds gain energy from stable ascending currents or shear. However, it remains unclear whether energy loss due to drag can be overcome by extracting work from transient turbulent fluctuations. We designed numerical simulations of…

Minimising the energy consumption associated with periodic motion is a priority common to a wide range of technologies and organisms - among them, many species of flying insect, for which flapping-wing flight is a life-essential mode of…

Thermal soaring saves much energy, but flying large distances in this form represents a great challenge for birds, people and Unmanned Aerial Vehicles (UAVs). The solution is to make use of so-called thermals, which are localized, warmer…

Accurate mathematical models of aerodynamic properties play an important role in the aerospace field. In some cases, system parameters of an aircraft can be estimated reliably only via flight tests. In order to obtain meaningful…

Dynamic soaring enables sustained flight by extracting energy from wind shear, yet it is commonly understood as a cycle-level maneuver that assumes stable flow conditions. In realistic unsteady environments, however, such assumptions are…

This research endeavors to design the perching maneuver and control in ornithopter robots. By analyzing the dynamic interplay between the robot's flight dynamics, feedback loops, and the environmental constraints, we aim to advance our…

Limited flight distance and time is a common problem for multicopters. We propose a method for finding the optimal speed and sideslip angle of a multicopter flying a given path to achieve either the longest flight distance or time. Since…

This paper presents a novel algorithm to plan energy-efficient trajectories for autonomous ornithopters. In general, trajectory optimization is quite a relevant problem for practical applications with \emph{Unmanned Aerial Vehicles} (UAVs).…

Saving energy and enhancing performance are secular preoccupations shared by both nature and human beings. In animal locomotion, flapping flyers or swimmers rely on the flexibility of their wings or body to passively increase their…

It has been asserted previously by the author that optimal control theory can be a valuable framework for theoretical studies about the shape that a wind instrument should have in order to satisfy some optimization criterion, inside a…

Autonomous unpowered flight is a challenge for control and guidance systems: all the energy the aircraft might use during flight has to be harvested directly from the atmosphere. We investigate the design of an algorithm that optimizes the…

The pursuit-evasion problem is widespread in nature, engineering, and societal applications. It is commonly observed in nature that predators often exhibit faster speeds than their prey but have less agile maneuverability. Over millions of…

In this letter, we report the first experimental demonstration of the recently emerged new paradigm in hovering and flapping flight physics called (Natural Hovering Extremum Seeking (NH-ES)) [doi.org/10.1103/4dm4-kc4g], which theorized that…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…