相关论文: Formation Tracking for a Multi-Auv System Based on…
In order to address the nonlinear multi-agent formation tracking control problem with input constraints and unknown communication faults, a novel adaptive distributed observer-based distributed model predictive control method is developed…
In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model of the AUV, the problems cannot be solved by most of model-based…
We present a closed-loop control strategy for a delta-wing unmanned aerial aquatic-vehicle (UAAV) that enables autonomous swim, fly, and water-to-air transition. Our control system consists of a hybrid state estimator and a closed-loop…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
This paper presents an agile Unmanned Aerial Vehicle (UAV) landing control by considering the effect of ship's oscillations and moving, and also disturbance (i.e., crosswind) is considered. The presented control system can make the…
This paper presents an adaptive coverage control method for a fleet of off-road and Unmanned Ground Vehicles (UGVs) operating in dynamic (time-varying) agricultural environments. Traditional coverage control approaches often assume static…
Collaborative underwater target hunting, facilitated by multiple autonomous underwater vehicles (AUVs), plays a significant role in various domains, especially military missions. Existing research predominantly focuses on designing…
This paper proposes a nonlinear control architecture for flexible aircraft simultaneous trajectory tracking and load alleviation. By exploiting the control redundancy, the gust and maneuver loads are alleviated without degrading the…
Cylindrical manipulators are extensively used in industrial automation, especially in emerging technologies like 3D printing, which represents a significant future trend. However, controlling the trajectory of nonlinear models with system…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
This paper addresses the problem of multi-object tracking in Unmanned Aerial Vehicle (UAV) footage. It plays a critical role in various UAV applications, including traffic monitoring systems and real-time suspect tracking by the police.…
We propose a new method to estimate the 6-dof trajectory of a flying object such as a quadrotor UAV within a 3D airspace monitored using multiple fixed ground cameras. It is based on a new structure from motion formulation for the 3D…
The adaptivity and maneuvering capabilities of Autonomous Underwater Vehicles (AUVs) have drawn significant attention in oceanic research, due to the unpredictable disturbances and strong coupling among the AUV's degrees of freedom. In this…
Teams of Unmanned Aerial Vehicles (UAVs) form typical networked cyber-physical systems that involve the interaction of discrete logic and continuous dynamics. This paper presents a hybrid supervisory control framework for the…
To reduce the chattering and overestimation phenomena existing in classical adaptive sliding mode control, this paper presents a new class K_infinity function-based adaptive sliding mode control scheme. Two controllers are proposed in terms…
The schooling behavior of fish is hypothesized to confer many survival benefits, including foraging success, safety from predators, and energy savings through hydrodynamic interactions when swimming in formation. Underwater robot…
With the characteristics of vertical take-off and landing and long endurance, tiltrotor has attracted considerable attention in recent decades for its potential applications in civil and scientific research. However, the problems of strong…
This paper presents a scalable acoustic navigation approach for the unified command, control and coordination of multiple autonomous underwater vehicles (AUVs). Existing multi-AUV operations typically achieve coordination manually, by…
The efficacy of UAV swarm cooperative perception fundamentally depends on three-dimensional (3D) formation geometry, which governs target observability and sensor complementarity. In the literature, the exploitation of formation geometry…
Autonomous underwater vehicles (AUV) are commonly used in many underwater applications. Usually, inertial sensors and Doppler velocity log readings are used in a nonlinear filter to estimate the AUV navigation solution. The process noise…