相关论文: Technical Report on: Anchoring Sagittal Plane Temp…

This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…

We present a review on recent progress in staggered chiral perturbation theory (SChPT). In the last decade, the scope of the application of SChPT has been extended beyond the level of calibration into the region of prediction with high…

To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…

This paper presents a safety-critical control framework tailored for quadruped robots equipped with a roller arm, particularly when performing locomotive tasks such as autonomous robotic inspection in complex, multi-tiered environments. In…

Acceleration-commanded guidance laws (e.g., proportional navigation) are attractive for high-level decision making, but their direct deployment on fixed-wing UAVs is challenging because accelerations are not directly actuated and must be…

Agile unmanned aerial vehicle (UAV) navigation in cluttered environments demands a planning architecture that is both computationally efficient and structurally expressive enough to reason over multiple feasible motions. This paper presents…

Existing approaches to robust global asymptotic stabilization of a pair of antipodal points on unit $n$-sphere $\mathbb{S}^n$ typically involve the non-centrally synergistic hybrid controllers for attitude tracking on unit quaternion space.…

Deploying robot learning methods to aerial robots in unstructured environments remains both challenging and promising. While recent advances in deep reinforcement learning (DRL) have enabled end-to-end flight control, the field still lacks…

The article 'A "regular" pentagonal tiling of the plane' by P. L. Bowers and K. Stephenson defines a conformal pentagonal tiling. This is a tiling of the plane with remarkable combinatorial and geometric properties. However, it doesn't have…

This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…

In this position paper, we consider some foundational topics regarding smart contracts (such as terminology, automation, enforceability, and semantics) and define a smart contract as an automatable and enforceable agreement. We explore a…

Airships offer unique operational advantages due to their ability to generate lift via buoyancy, enabling low-speed flight and stationary hovering. These capabilities make them ideal for missions requiring endurance and precision…

Given the cost and critical functions of satellite constellations, ensuring mission longevity and safe decommissioning is essential for space sustainability. This article presents a Model Predictive Control for spacecraft trajectory and…

Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…

This paper considers the robust control of a catenary robot composed of two quadrotors connected by an inextensible cable. The system is modeled on \(SE(3)\), with the cable treated as a geometric subsystem induced by the UAV configuration…

The main objective of this work is demonstrated through two main aspects. The first is the design of an adaptive neuro-fuzzy inference system (ANFIS) controller to develop the attitude and altitude of a quadcopter. The second is to…

The aim of this paper is to show that spatial coupling can be viewed not only as a means to build better graphical models, but also as a tool to better understand uncoupled models. The starting point is the observation that some asymptotic…

This paper presents a control strategy based on dual quaternions for the coordinated formation flying of small UAV groups. A virtual structure is employed to define the desired formation, enabling unified control of its position,…

This paper presents an overview of different concepts regarding covert channels. It discusses the various classifications and the detailing of various fields used to manipulate for the covert channel execution.Different evaluation criterias…

We introduce a novel positional encoding strategy for Transformer-style models, addressing the shortcomings of existing, often ad hoc, approaches. Our framework provides a flexible mapping from the algebraic specification of a domain to an…