相关论文: Incremental Nonlinear Dynamic Inversion based Opti…

This paper introduces a control architecture for real-time and onboard control of Unmanned Aerial Vehicles (UAVs) in environments with obstacles using the Model Predictive Path Integral (MPPI) methodology. MPPI allows the use of the full…

Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires…

It has recently been shown that all physical parameters of an Incremental Nonlinear Dynamic Inversion (INDI) controller can be estimated onboard a multirotor within half a second, which is fast enough to do the full identification during a…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

In systems control, the dynamics of a system are governed by modulating its inputs to achieve a desired outcome. For example, to control the thrust of a quad-copter propeller the controller modulates its rotation rate, relying on a…

Learning the inverse dynamics of soft continuum robots remains challenging due to high-dimensional nonlinearities and complex actuation coupling. Conventional feedback-based controllers often suffer from control chattering due to corrective…

Micro Autonomous Surface Vehicles (MicroASVs) offer significant potential for operations in confined or shallow waters and swarm robotics applications. However, achieving precise and robust control at such small scales remains highly…

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…

Accurate velocity estimation of surrounding moving objects and their trajectories are critical elements of perception systems in Automated/Autonomous Vehicles (AVs) with a direct impact on their safety. These are non-trivial problems due to…

While magnetic micro-robots have demonstrated significant potential across various applications, including drug delivery and microsurgery, the open issue of precise navigation and control in complex fluid environments is crucial for in vivo…

With the recent advancement of deep learning technology, data-driven approaches for autonomous car prediction and planning have achieved extraordinary performance. Nevertheless, most of these approaches follow a non-interactive prediction…

The paper introduces an interactive machine learning mechanism to process the measurements of an uncertain, nonlinear dynamic process and hence advise an actuation strategy in real-time. For concept demonstration, a trajectory-following…

Robust and accurate six degree-of-freedom tracking on portable devices remains a challenging problem, especially on small hand-held devices such as smartphones. For improved robustness and accuracy, complementary movement information from…

Model Predictive Path Integral (MPPI) is a popular sampling-based Model Predictive Control (MPC) algorithm for nonlinear systems. It optimizes trajectories by sampling control sequences and averaging them. However, a key issue with MPPI is…

This work proposes a mmWave radar's scene flow estimation framework supervised by data from a widespread visual-inertial (VI) sensor suite, allowing crowdsourced training data from smart vehicles. Current scene flow estimation methods for…

A data-driven framework using snapshots of an uncontrolled flow is proposed to identify, and subsequently demonstrate, effective control strategies for different objectives in supersonic impinging jets. The approach, based on a dynamic mode…

Autonomous underwater vehicles (AUVs) are sophisticated robotic platforms crucial for a wide range of applications. The accuracy of AUV navigation systems is critical to their success. Inertial sensors and Doppler velocity logs (DVL) fusion…

This paper introduces a learning-based visual planner for agile drone flight in cluttered environments. The proposed planner generates collision-free waypoints in milliseconds, enabling drones to perform agile maneuvers in complex…

Modeling and control of nonlinear dynamics are critical in robotics, especially in scenarios with unpredictable external influences and complex dynamics. Traditional cascaded modular control pipelines often yield suboptimal performance due…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…