相关论文: Unmanned Surface Vehicle: Yaw Modeling and Identif…

Landing a multirotor unmanned aerial vehicle (UAV) on an uncrewed surface vessel (USV) extends the operational range and offers recharging capabilities for maritime and limnology applications, such as search-and-rescue and environmental…

The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…

An intelligent control strategy is proposed to eliminate the actuator saturation problem that exists in the trajectory tracking process of unmanned underwater vehicles (UUV). The control strategy consists of two parts: for the kinematic…

We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…

Yaw estimation of boats from the viewpoint of unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) or boats is a crucial task in various applications such as 3D scene rendering, trajectory prediction, and navigation.…

Unmanned Aerial Vehicles (UAVs), have greatly revolutionized the process of gathering and analyzing data in diverse research domains, providing unmatched adaptability and effectiveness. This paper presents a thorough examination of Unmanned…

In this article we present a unified framework based on receding horizon techniques that can be used to design the three tasks (guidance, navigation and path-planning) which are involved in the autonomy of unmanned vehicles. This tasks are…

With the advantage of high mobility, Unmanned Aerial Vehicles (UAVs) are used to fuel numerous important applications in computer vision, delivering more efficiency and convenience than surveillance cameras with fixed camera angle, scale…

We present a simplified model of a vehicle driving on a nonplanar road. A parametric surface is used to describe the nonplanar road which can describe any combination of curvature, bank and slope. We show that the proposed modeling approach…

Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…

Advances in hardware technology have facilitated more integration of sophisticated software toward augmenting the development of Unmanned Vehicles (UVs) and mitigating constraints for onboard intelligence. As a result, UVs can operate in…

This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear…

The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have been evaluated before. Among all of these solutions,…

As off-the-shelf (OTS) autopilots become more widely available and user-friendly and the drone market expands, safer, more efficient, and more complex motion planning and control will become necessary for fixed-wing aerial robotic…

More efficient agricultural machinery is needed as agricultural areas become more limited and energy and labor costs increase. To increase their efficiency, trajectory tracking problem of an autonomous tractor, as an agricultural production…

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…

Adverse road conditions can cause vehicle yaw instability and loss of traction. To compensate for the instability under such conditions, corrective actions must be taken. In comparison to a mechanical differential, an electronic…

The underwater environment poses a complex problem for developing autonomous capabilities for Underwater Vehicle Manipulator Systems (UVMSs). The modeling of UVMSs is a complicated and costly process due to the highly nonlinear dynamics and…

This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…

This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…