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Research on Multi-rotor Aerial Vehicles (MAVs) has experienced remarkable advancements over the past two decades, propelling the field forward at an accelerated pace. Through the implementation of motion control and the integration of…

In this paper, we present an on-board vision-based approach for avoidance of moving obstacles in dynamic environments. Our approach relies on an efficient obstacle detection and tracking algorithm based on depth image pairs, which provides…

Autonomous navigation is needed for several robotics applications. In this paper we present an autonomous Micro Aerial Vehicle (MAV) system which purely relies on cost-effective and light-weight passive visual and inertial sensors to…

Aerial field robotics research represents the domain of study that aims to equip unmanned aerial vehicles - and as it pertains to this chapter, specifically Micro Aerial Vehicles (MAVs)- with the ability to operate in real-life environments…

Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is…

Compliance is a strong requirement for human-robot interactions. Soft-robots provide an opportunity to cover the lack of compliance in conventional actuation mechanisms, however, the control of them is very challenging given their intrinsic…

In this paper, we propose an integrated dynamical model of Connected and Automated Vehicles (CAVs) which incorporates CAV technologies and a microscopic car-following model to improve safety, efficiency and convenience. We rigorously…

Smart Micro Aerial Vehicles (MAVs) have transformed infrastructure inspection by enabling efficient, high-resolution monitoring at various stages of construction, including hard-to-reach areas. Traditional manual operation of drones in…

As aerial robots are tasked to navigate environments of increased complexity, embedding collision tolerance in their design becomes important. In this survey we review the current state-of-the-art within the niche field of…

As mini UAVs become increasingly useful in the civilian work domain, the need for a method for them to operate safely in a cluttered environment is growing, especially for fixed-wing UAVs as they are incapable of following the…

As roles for unmanned aerial vehicles (UAV) continue to diversify, the ability to sense and interact closely with the environment becomes increasingly important. Within this paper we report on the initial flight tests of a novel adaptive…

This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…

Although manipulation capabilities of aerial robots greatly improved in the last decade, only few works addressed the problem of aerial physical interaction with dynamic environments, proposing strongly model-based approaches. However, in…

Operating unmanned aerial vehicles (UAVs) in complex environments that feature dynamic obstacles and external disturbances poses significant challenges, primarily due to the inherent uncertainty in such scenarios. Additionally, inaccurate…

Collaborative object transportation using multiple Micro Aerial Vehicles (MAVs) with limited communication is a challenging problem. In this paper we address the problem of multiple MAVs mechanically coupled to a bulky object for…

Passivity is necessary for robots to fluidly collaborate and interact with humans physically. Nevertheless, due to the unconstrained nature of passivity-based impedance control laws, the robot is vulnerable to infeasible and unsafe…

Micro-aerial vehicles (MAVs) are becoming ubiquitous across multiple industries and application domains. Lightweight MAVs with only an onboard flight controller and a minimal sensor suite (e.g., IMU, vision, and vertical ranging sensors)…

With the rapid development of Connected and Automated Vehicle (CAV) technology, limited self-driving vehicles have been commercially available in certain leading intelligent transportation system countries. When formulating the…

Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mission failure. This paper proposes a…

Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…