相关论文: Static Hovering Realization for Multirotor Aerial …

This work proposes a strategy for organising quadrotors around a payload to enable hovering without external stimuli, together with a MATLAB software for modelling the dynamics of a quadrotor-payload system. Based on geometric concepts, the…

This paper explores the mathematical modelling and 3D design of a tilt-rotor quadrotor aircraft. The aircraft is a VTOL design and has capacity for one pilot. The design incorporates a part manual part automatic computerised flight control…

Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…

Interactional aerodynamics of a quadcopter in hover is numerically investigated in this study. The main objective is to understand major flow structures associated with unsteady airloads on multirotor aircraft. The overset mesh approach is…

Bidirectional thrust grants quadrotors a second equilibrium condition and increased control authority, expanding the envelope of possible aggressive maneuvers and enabling inverted flight, perching, and sensing. Prior geometric control…

With UAVs promising capabilities to increase operation flexibility and reduce mission cost, we are exploiting the automated carrier-landing performance advancement that can be achieved by fixed-wing UAVs. To demonstrate such potentials, in…

From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interaction tasks. Accordingly, cant-angle…

Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…

Autonomous navigation across unstructured terrains, including forests and construction areas, faces unique challenges due to intricate obstacles and the element of the unknown. Lacking pre-existing maps, these scenarios necessitate a motion…

This work addresses the problem of robust attitude control of quadcopters. First, the mathematical model of the quadcopter is derived considering factors such as nonlinearity, external disturbances, uncertain dynamics and strong coupling.…

Notwithstanding the growing presence of AGVs in the industry, there is a lack of research about multi-wheeled AGVs which offer higher maneuverability and space efficiency. In this paper, we present generalized path continuity conditions as…

In this paper, we introduce a translational force control method with disturbance observer (DOB)-based force disturbance cancellation for precise three-dimensional acceleration control of a multi-rotor UAV. The acceleration control of the…

Overactuated Tilt Rotor Unmanned Aerial Vehicles are renowned for exceptional wind resistance and a broad operational range, which poses complex control challenges due to non-affine dynamics. Traditional solutions employ multi-state…

We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The…

Traditional aerial vehicles are usually custom-designed for specific tasks. Although they offer an efficient solution, they are not always able to adapt to changes in the task specification, e.g., increasing the payload. This applies to…

In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…

In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…

Standing-up control is crucial for humanoid robots, with the potential for integration into current locomotion and loco-manipulation systems, such as fall recovery. Existing approaches are either limited to simulations that overlook…

Morphing multirotors, such as the Foldable Drone , can increase the versatility of drones employing in-flight-adaptive-morphology. To further increase precision in their tasks, recent works have investigated stable flight in asymmetric…

Multi-perspective cameras with potentially non-overlapping fields of view have become an important exteroceptive sensing modality in a number of applications such as intelligent vehicles, drones, and mixed reality headsets. In this work, we…