相关论文: VTOL Failure Detection and Recovery by Utilizing R…
Integration of Visual Inertial Odometry (VIO) methods into a modular control system designed for deployment of Unmanned Aerial Vehicles (UAVs) and teams of cooperating UAVs in real-world conditions are presented in this paper. Reliability…
Aerial vehicles (AVs) such as electric vertical take-off and landing (eVTOL) make aerial passenger transportation a reality in urban environments. However, their communication connectivity is still under research to realize their safe and…
In this paper, we present a full attitude control of an efficient quadrotor tail-sitter VTOL UAV with flexible modes. This control system is working in all flight modes without any control surfaces but motor differential thrusts. This paper…
Developing aerial robots that can both safely navigate and execute assigned mission without any human intervention - i.e., fully autonomous aerial mobility of passengers and goods - is the larger vision that guides the research, design, and…
An important capability of autonomous Unmanned Aerial Vehicles (UAVs) is autonomous landing while avoiding collision with obstacles in the process. Such capability requires real-time local trajectory planning. Although trajectory-planning…
This paper investigates a hybrid compositional approach to optimal mission planning for multi-rotor Unmanned Aerial Vehicles (UAVs). We consider a time critical search and rescue scenario with two quadrotors in a constrained environment.…
Failure detection and fault tolerant control are fundamental safety features of any aerial vehicle. With the emergence of complex, multi-body flying systems such as jet-powered humanoid robots, it becomes of crucial importance to design…
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…
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 study presents a transformer-based approach for fault-tolerant control in fixed-wing Unmanned Aerial Vehicles (UAVs), designed to adapt in real time to dynamic changes caused by structural damage or actuator failures. Unlike…
Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…
Urban Air Mobility (UAM) has emerged as a promising solution to alleviate urban congestion and transportation challenges. Nevertheless, the noise generated by eVTOL aircrafts poses a significant barrier to public acceptance and regulatory…
This paper investigates the utilization of differential thrust to help a commercial aircraft with a damaged vertical stabilizer regain its lateral/directional stability. In the event of an aircraft losing its vertical stabilizer, the…
Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these…
Recent years have witnessed impressive robotic manipulation systems driven by advances in imitation learning and generative modeling, such as diffusion- and flow-based approaches. As robot policy performance increases, so does the…
This research offers a novel framework for dynamic task assignment for unmanned aerial vehicles (UAVs) in cooperative search settings. Notably, it incorporates post-fault UAV capabilities into job assignment techniques, assuring operational…
Vehicular ad hoc networks (VANETs) are characterized by frequent routing path failures due to the high mobility caused by the sudden changes of the direction of vehicles. The routing paths between two different vehicles should be…
Urban Air Mobility (UAM) has emerged as a transformative solution to alleviate urban congestion by utilizing low-altitude airspace, thereby reducing pressure on ground transportation networks. To enable truly efficient and seamless…
Autonomous air taxis are poised to revolutionize urban mass transportation, however, ensuring their safety and reliability remains an open challenge. Validating autonomy solutions on air taxis in the real world presents complexities, risks,…
In recent years, unmanned aircraft systems (UASs) are frequently used in many different applications of photogrammetry such as building damage monitoring, archaeological mapping and vegetation monitoring. In this paper, a new…