相关论文: FlowDrone: Wind Estimation and Gust Rejection on U…

Due to limitations in available sensor technology, unmanned aerial vehicles (UAVs) lack an active sensing capability to measure turbulence, gusts, or other unsteady aerodynamic phenomena. Conventional in situ anemometry techniques fail to…

We propose the use of basic inertial measurement units (IMU) which contain sensors such as accelerometers and gyroscopes already on-board drones to detect the speed and direction of wind gusts. The ability to quickly sense wind gusts has…

Accurate real-time wind vector estimation is essential for enhancing the safety, navigation accuracy, and energy efficiency of unmanned aerial vehicles (UAVs). Traditional approaches rely on external sensors or simplify vehicle dynamics,…

Unmanned Aerial Vehicles (UAVs) play a crucial role in meteorological research, particularly in environmental wind field measurements. However, several challenges exist in current wind measurement methods using UAVs that need to be…

The continuous evolution of small Unmanned Aerial Systems (sUAS) demands advanced testing methodologies to ensure their safe and reliable operations in the real-world. To push the boundaries of sUAS simulation testing in realistic…

This paper discusses a low-cost, open-source and open-hardware design and performance evaluation of a low-speed, multi-fan wind system dedicated to micro air vehicle (MAV) testing. In addition, a set of experiments with a flapping wing MAV…

Disturbance estimation for Micro Aerial Vehicles (MAVs) is crucial for robustness and safety. In this paper, we use novel, bio-inspired airflow sensors to measure the airflow acting on a MAV, and we fuse this information in an Unscented…

This thesis presents a solution that enables aerial robots to reason about surrounding wind flow fields in real time using on board sensors and embedded flight hardware. The core novelty of this research is the fusion of range measurements…

Remote monitoring of drones has become a global objective due to emerging applications in national security and managing aerial delivery traffic. Despite their relatively small size, drones can carry significant payloads, which require…

There is a growing need for uncrewed aerial vehicles (UAVs) to operate in cities. However, the uneven urban landscape and complex street systems cause large-scale wind gusts that challenge the safe and effective operation of UAVs. Current…

In this article, we study the well known problem of wind estimation in atmospheric turbulence using small unmanned aerial systems (sUAS). We present a machine learning approach to wind velocity estimation based on quadcopter state…

Small, low-speed fixed-wing Unmanned Aerial Vehicles (UAVs) operating autonomously, beyond-visual-line-of-sight (BVLOS) will inevitably encounter winds rising to levels near or exceeding the vehicles' nominal airspeed. In this paper, we…

Local wind conditions strongly influence drone performance: headwinds increase flight time, crosswinds and wind shear hinder agility in cluttered spaces, while tailwinds reduce travel time. Although adaptive controllers can mitigate…

Today, low-altitude fixed-wing Unmanned Aerial Vehicles (UAVs) are largely limited to primitively follow user-defined waypoints. To allow fully-autonomous remote missions in complex environments, real-time environment-aware navigation is…

The wind energy sector is growing rapidly with the installation of wind turbines with long, slender blades in a diverse range of locations. To enhance the operational performance under specific wind conditions and to validate the…

This paper presents a round-trip strategy of multirotors subject to unknown flow disturbances. During the outbound flight, the vehicle immediately utilizes the wind disturbance estimations in feedback control, as an attempt to reduce the…

Unmanned underwater vehicles are increasingly employed for maintenance and surveying tasks at sea, but their operation in shallow waters is often hindered by hydrodynamic disturbances such as waves, currents, and turbulence. These unsteady…

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…

Realtime model learning proves challenging for complex dynamical systems, such as drones flying in variable wind conditions. Machine learning technique such as deep neural networks have high representation power but is often too slow to…

The widespread use of unmanned aerial vehicles (UAVs) by the military, commercial companies, and academia continues to push research for autonomous vehicle navigation, particularly in varying environmental conditions and…