相关论文: Minimum Snap Trajectory Generation and Control for…

This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage trajectories that…

We present a new stability proof for cascaded geometric control used by aerial vehicles tracking time-varying position trajectories. Our approach uses sliding variables and a recently proposed quaternion-based sliding controller to…

The techniques of precision agriculture include the possibility to execute crop monitoring tasks through the application of Unmanned Aerial Vehicles (UAVs). These platforms are flexible, easy to use and low-cost, and they are the best…

In this paper we address the control problem of aerial cable suspended load transportation, using multiple Unmanned Aerial Vehicles (UAVs). First, the dynamical model of the coupled system is obtained using the Newton-Euler formalism, for…

We present a new Lyapunov-based switching attitude controller for energy-efficient real-time selection of the torque inputted to an uncrewed aerial vehicle (UAV) during flight. The proposed method, using quaternions to describe the attitude…

In this article, a novel prescribed performance adaptive fixed-time backstepping control strategy is investigated for the attitude tracking of a 3-DOF helicopter. First, a new unified barrier function (UBF) is designed to convert the…

[Accepted to IROS 2025] In this paper, we address the problem of tracking high-speed agile trajectories for Unmanned Aerial Vehicles(UAVs), where model inaccuracies can lead to large tracking errors. Existing Nonlinear Model Predictive…

A novel active fault-tolerant control (AFTC) scheme for a dual-system vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) during transition flight is proposed in this paper. The AFTC scheme is composed of a baseline control…

Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…

A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Based on the model, a robust algorithm is proposed for controlling a quadcopter using measurements of linear coordinates and yaw angle. By…

In this paper a geometric approach to the trajectory tracking control of Unmanned Aerial Vehicles with thrust vectoring capabilities is proposed. The control design is suitable for aerial systems that allow to effectively decouple position…

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 FlightDiffusion, a diffusion-model-based framework for training autonomous drones from first-person view (FPV) video. Our model generates realistic video sequences from a single frame, enriched with corresponding action spaces to…

This technical report provides detailed theoretical analysis of the algorithm used in \textit{Alternating Minimization Based Trajectory Generation for Quadrotor Aggressive Flight}. An assumption is provided to ensure that settings for the…

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…

Cable-suspended aerial transportation systems are employed extensively across various industries. The capability to flexibly adjust the relative position between the multirotor and the payload has spurred growing interest in the system…

The growing focus on reducing energy consumption, particularly in electric vehicles with limited autonomy, has prompted innovative solutions. In this context, we propose a real-time flap-based control system aimed at improving aerodynamic…

Fin actuators can be used for for both thrust generation and vectoring. Therefore, fin-driven autonomous underwater vehicles (AUVs) can achieve high maneuverability with a smaller number of actuators, but their control is challenging. This…

This paper presents a dynamic model and a control system for a flapping-wing unmanned aerial vehicle. Inspired by flight characteristics captured from live Monarch butterflies, a new dynamic model is presented to account the effects of…

Floating wind turbines (FWTs) hold significant potential for the exploitation of offshore renewable energy resources. Nevertheless, prior to the construction of FWTs, it is imperative to tackle several critical challenges, especially the…