相关论文: Multi-level Adaptation for Automatic Landing with …

With the rapid development of autonomous driving, the attention of academia has increasingly focused on the development of anti-collision systems in emergency scenarios, which have a crucial impact on driving safety. While numerous…

Autonomous underwater vehicles (AUVs) are subject to various sources of faults during their missions, which challenges AUV control and operation in real environments. This paper addresses fault-tolerant trajectory tracking of autonomous…

Safe navigation in real-time is challenging because engineers need to work with uncertain vehicle dynamics, variable external disturbances, and imperfect controllers. A common safety strategy is to inflate obstacles by hand-defined margins.…

Autonomous landing of Unmanned Aerial Vehicles (UAVs) in crowded scenarios is crucial for successful deployment of UAVs in populated areas, particularly in emergency landing situations where the highest priority is to avoid hurting people.…

Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially…

Autonomous multirotor landings on uncrewed surface vessels (USVs) are critical for persistent maritime operations but remain challenging due to wave-induced tilt, wind disturbances, and limited landing area. Many existing approaches exhibit…

In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control barrier functions (CBFs). The proposed control framework…

Selecting safe landing sites in non-cooperative environments is a key step towards the full autonomy of UAVs. However, the existing methods have the common problems of poor generalization ability and robustness. Their performance in unknown…

Terrestrial and aerial bimodal vehicles have gained widespread attention due to their cross-domain maneuverability. Nevertheless, their bimodal dynamics significantly increase the complexity of motion planning and control, thus hindering…

Autonomous landing of Uncrewed Aerial Vehicles (UAVs) on oscillating marine platforms is severely constrained by wave-induced multi-frequency oscillations, wind disturbances, and prediction phase lags in motion prediction. Existing methods…

Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…

This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)'s deck in harsh conditions. The trajectory…

A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…

Autonomous docking between Unmanned Aerial Vehicles (UAVs) and ground robots is essential for heterogeneous systems, yet most existing approaches target wheeled platforms whose limited mobility constrains exploration in complex terrains.…

In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…

This paper proposes a real-time movement control algorithm for massive unmanned aerial vehicles (UAVs) that provide emergency cellular connections in an urban disaster site. While avoiding the inter-UAV collision under temporal wind…

In recent years, teams of robot and Unmanned Aerial Vehicles (UAVs) have been commissioned by researchers to enable accurate, online wildfire coverage and tracking. While the majority of prior work focuses on the coordination and control of…

The ability to adapt to changing environments is crucial for the autonomous navigation systems of Unmanned Aerial Vehicles (UAVs). However, existing navigation systems adopt fixed execution configurations without considering environmental…

In this paper, a simple technique for Unmanned Aerial Vehicles (UAVs) potential landing site detection using terrain information through identification of flat areas, is presented. The algorithm utilizes digital elevation models (DEM) that…

This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…