相关论文: Secure Control Systems for Autonomous Quadrotors a…

Integrating learning-based techniques, especially reinforcement learning, into robotics is promising for solving complex problems in unstructured environments. However, most existing approaches are trained in well-tuned simulators and…

This paper introduces a quadrotor's autonomous take-off and landing system on a moving platform. The designed system addresses three challenging problems: fast pose estimation, restricted external localization, and effective obstacle…

Safety-critical cyber-physical systems (CPS), such as quadrotor UAVs, are particularly prone to cyber attacks, which can result in significant consequences if not detected promptly and accurately. During outdoor operations, the nonlinear…

The rapid development of artificial intelligence, especially deep learning technology, has advanced autonomous driving systems (ADSs) by providing precise control decisions to counterpart almost any driving event, spanning from anti-fatigue…

This paper presents an adaptive modified Robust Inverse of Signum Error (AM-RISE) control method, which achieves reliable trajectory tracking control for a quadrotor unmanned aerial vehicle. The proposed method systematically accounts for…

In this thesis, we consider two simple but typical control problems and apply deep reinforcement learning to them, i.e., to cool and control a particle which is subject to continuous position measurement in a one-dimensional quadratic…

Automating drone-assisted processes is a complex task. Many solutions rely on trajectory generation and tracking, whereas in contrast, path-following control is a particularly promising approach, offering an intuitive and natural approach…

This paper presents a scalable online algorithm to generate safe and kinematically feasible trajectories for quadrotor swarms. Existing approaches rely on linearizing Euclidean distance-based collision constraints and on axis-wise…

In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…

The utilisation of unmanned aerial vehicles has witnessed significant growth in real-world applications including surveillance tasks, military missions, and transportation deliveries. This letter investigates practical problems of formation…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

Recent advances in Deep Machine Learning have shown promise in solving complex perception and control loops via methods such as reinforcement and imitation learning. However, guaranteeing safety for such learned deep policies has been a…

This study presents a novel reinforcement learning (RL)-based control framework aimed at enhancing the safety and robustness of the quadcopter, with a specific focus on resilience to in-flight one propeller failure. Addressing the critical…

The last half-decade has seen a steep rise in the number of contributions on safe learning methods for real-world robotic deployments from both the control and reinforcement learning communities. This article provides a concise but holistic…

Quadrotors hold significant promise for several applications such as agriculture, search and rescue, and infrastructure inspection. Achieving autonomous operation requires systems to navigate safely through complex and unfamiliar…

In this work, we specialize contributions from prior work on data-driven trajectory generation for a quadrotor system with motor saturation constraints. When motors saturate in quadrotor systems, there is an ``uncontrolled drift" of the…

In recent times, reinforcement learning has produced baffling results when it comes to performing control tasks with highly non-linear systems. The impressive results always outweigh the potential vulnerabilities or uncertainties associated…

In the last few years, researchers have applied machine learning strategies in the context of vehicular platoons to increase the safety and efficiency of cooperative transportation. Reinforcement Learning methods have been employed in the…

With the development of state-of-art deep reinforcement learning, we can efficiently tackle continuous control problems. But the deep reinforcement learning method for continuous control is based on historical data, which would make…

This paper presents a framework for controlled emergency landing of a quadcopter, experiencing a rotor failure, away from sensitive areas. A complete mathematical model capturing the dynamics of the system is presented that takes the…