相关论文: Standoff Tracking Using DNN-Based MPC with Impleme…

We propose a methodology for autonomous aerial navigation and obstacle avoidance of micro aerial vehicles (MAV) using nonlinear model predictive control (NMPC) and we demonstrate its effectiveness with laboratory experiments. The proposed…

Autonomous tracking of flying aerial objects has important civilian and defense applications, ranging from search and rescue to counter-unmanned aerial systems (counter-UAS). Ground based tracking requires setting up infrastructure, could…

Navigating complex environments requires Unmanned Aerial Vehicles (UAVs) and autonomous systems to perform trajectory tracking and obstacle avoidance in real-time. While many control strategies have effectively utilized linear…

This paper introduces a Nonlinear Model Predictive Control (N-MPC) framework exploiting a Deep Neural Network for processing onboard-captured depth images for collision avoidance in trajectory-tracking tasks with UAVs. The network is…

Model Predictive Control (MPC) provides an optimal control solution based on a cost function while allowing for the implementation of process constraints. As a model-based optimal control technique, the performance of MPC strongly depends…

A solution to the waypoint navigation problem for fixed wing micro air vehicles (MAV) is addressed in this paper, in the framework of integrated guidance and control (IGC). IGC yields a single step solution to the waypoint navigation…

In this paper, the real-time deployment of unmanned aerial vehicles (UAVs) as flying base stations (BSs) for optimizing the throughput of mobile users is investigated for UAV networks. This problem is formulated as a time-varying…

While deep reinforcement learning (RL) methods have achieved unprecedented successes in a range of challenging problems, their applicability has been mainly limited to simulation or game domains due to the high sample complexity of the…

All practical systems often pose a problem of finite control capability, which can notably degrade the performance if not properly addressed. Since actuator input bounds are typically known, integrating actuator saturation considerations…

In this paper, we present our proposed approach for active tracking to increase the autonomy of Unmanned Aerial Vehicles (UAVs) using event cameras, low-energy imaging sensors that offer significant advantages in speed and dynamic range.…

The empowering unmanned aerial vehicles (UAVs) have been extensively used in providing intelligence such as target tracking. In our field experiments, a pre-trained convolutional neural network (CNN) is deployed at the UAV to identify a…

With the increasing prevalence of drones in various industries, the navigation and tracking of unmanned aerial vehicles (UAVs) in challenging environments, particularly GNSS-denied areas, have become crucial concerns. To address this need,…

We study trajectory tracking for flat nonlinear systems with unmatched uncertainties using the model-following control (MFC) architecture. We apply state feedback linearisation control for the process and propose a simplified implementation…

Real-time tracking of small unmanned aerial vehicles (UAVs) on edge devices faces a fundamental resolution-speed conflict. Downsampling high-resolution imagery to standard detector input sizes causes small target features to collapse below…

Trajectory tracking control for quadrotors is important for applications ranging from surveying and inspection, to film making. However, designing and tuning classical controllers, such as proportional-integral-derivative (PID) controllers,…

In this paper, we study a joint detection, mapping and navigation problem for a single unmanned aerial vehicle (UAV) equipped with a low complexity radar and flying in an unknown environment. The goal is to optimize its trajectory with the…

Unmanned Aerial Vehicles (UAVs) or drones are increasingly used for urban applications like traffic monitoring and construction surveys. Autonomous navigation allows drones to visit waypoints and accomplish activities as part of their…

This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…

This paper presents a learning- and scenario-based model predictive control (MPC) design approach for systems modeled in linear parameter-varying (LPV) framework. Using input-output data collected from the system, a state-space LPV model…

With the rapid expansion of the low-altitude economy, Unmanned Aerial Vehicles (UAVs) serve as pivotal aerial base stations supporting diverse services from users, ranging from latency-sensitive critical missions to bandwidth-intensive data…