相关论文: Neural-Fly Enables Rapid Learning for Agile Flight…

Deep neural networks offer an alternative paradigm for modeling weather conditions. The ability of neural models to make a prediction in less than a second once the data is available and to do so with very high temporal and spatial…

This paper studies an adaptive approach for probabilistic wind power forecasting (WPF) including offline and online learning procedures. In the offline learning stage, a base forecast model is trained via inner and outer loop updates of…

This paper proposes an adaptive near-hover position controller for quadcopters, which can be deployed to quadcopters of very different mass, size and motor constants, and also shows rapid adaptation to unknown disturbances during runtime.…

Drones are becoming indispensable in many application domains. In data-driven missions, besides sensing, the drone must process the collected data at runtime to decide whether additional action must be taken on the spot, before moving to…

The high dimensionality and complex dynamics of turbulent flows remain an obstacle to the discovery and implementation of control strategies. Deep reinforcement learning (RL) is a promising avenue for overcoming these obstacles, but…

Figuring out the right airfoil is a crucial step in the preliminary stage of any aerial vehicle design, as its shape directly affects the overall aerodynamic characteristics of the aircraft or rotorcraft. Besides being a measure of…

Real-time high-resolution wind predictions are beneficial for various applications including safe manned and unmanned aviation. Current weather models require too much compute and lack the necessary predictive capabilities as they are valid…

Creating safe paths in unknown and uncertain environments is a challenging aspect of leader-follower formation control. In this architecture, the leader moves toward the target by taking optimal actions, and followers should also avoid…

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…

Integration of artificial intelligence (AI) and machine learning (ML) into the air interface has been envisioned as a key technology for next-generation (NextG) cellular networks. At the air interface, multiple-input multiple-output (MIMO)…

Unmanned Aerial Vehicles (UAVs) are increasingly used in automated inspection, delivery, and navigation tasks that require reliable autonomy. This project develops a reinforcement learning (RL) approach to enable a single UAV to…

Current control algorithms for aerial robots struggle with robustness in dynamic environments and adverse conditions. Model-based reinforcement learning (RL) has shown strong potential in handling these challenges while remaining…

In this paper, we tackle the problem of flying a quadrotor using time-optimal control policies that can be replanned online when the environment changes or when encountering unknown disturbances. This problem is challenging as the…

Aerodynamic analysis during aircraft design usually involves methods of varying accuracy and spatial resolution, which all have their advantages and disadvantages. It is therefore desirable to create data-driven models which effectively…

State-of-the-art performance for many edge applications is achieved by deep neural networks (DNNs). Often, these DNNs are location- and time-sensitive, and must be delivered over a wireless channel rapidly and efficiently. In this paper, we…

In-flight objects capture is extremely challenging. The robot is required to complete trajectory prediction, interception position calculation and motion planning in sequence within tens of milliseconds. As in-flight uneven objects are…

Wind power forecasting plays a critical role in modern energy systems, facilitating the integration of renewable energy sources into the power grid. Accurate prediction of wind energy output is essential for managing the inherent…

Safe navigation of drones in the presence of adversarial physical attacks from multiple pursuers is a challenging task. This paper proposes a novel approach, asynchronous multi-stage deep reinforcement learning (AMS-DRL), to train…

Autonomous agents such as indoor drones must learn new object classes in real-time while limiting catastrophic forgetting, motivating Class-Incremental Learning (CIL). However, most unmanned aerial vehicle (UAV) datasets focus on outdoor…

Deep Metric Learning (DML), a widely-used technique, involves learning a distance metric between pairs of samples. DML uses deep neural architectures to learn semantic embeddings of the input, where the distance between similar examples is…