相关论文: Hardware-in-the-Loop for Characterization of Embed…

We present a hardware-in-the-loop (HIL) simulation setup for repeatable testing of Connected Automated Vehicles (CAVs) in dynamic, real-world scenarios. Our goal is to test control and planning algorithms and their distributed…

Field trial is very critical and high risk in autonomous UAV development life cycle. Hardware in the loop (HIL) simulation is a computer simulation that has the ability to simulate UAV flight characteristic, sensor modeling and actuator…

Insects and hummingbirds exhibit extraordinary flight capabilities and can simultaneously master seemingly conflicting goals: stable hovering and aggressive maneuvering, unmatched by small scale man-made vehicles. Flapping Wing Micro Air…

Flow visualisations are essential to better understand the unsteady aerodynamics of flapping wing flight. The issues inherent to animal experiments, such as poor controllability and unnatural flapping when tethered, can be avoided by using…

This paper presents a system for hardware-in-the-loop (HiL) simulation of unmanned aerial vehicle (UAV) control algorithms implemented on a heterogeneous SoC FPGA computing platforms. The AirSim simulator running on a PC and an Arty Z7…

Testing marine robotics systems in controlled environments before field tests is challenging, especially when acoustic-based sensors and control surfaces only function properly underwater. Deploying robots in indoor tanks and pools often…

Wake interactions in floating wind farms are inherently coupled to platform motion, yet most experimental studies to date neglect this two-way coupling by prescribing platform movements. This work presents a hardware-in-the-loop (HIL)…

We propose the Hardware-in-the-Loop (HIL) test of an adaptive satellite attitude control system with reaction wheel health estimation capabilities. Previous simulations and Software-in-the-Loop testing have prompted further experiments to…

More and more robot automation applications have changed to wireless communication, and network performance has a growing impact on robotic systems. This study proposes a hardware-in-the-loop (HiL) simulation methodology for connecting the…

This paper presents a novel learning-based approach for online state estimation in flapping wing aerial vehicles (FWAVs). Leveraging low-cost Magnetic, Angular Rate, and Gravity (MARG) sensors, the proposed method effectively mitigates the…

Validation of autonomous driving systems requires a trade-off between test fidelity, cost, and scalability. While miniaturized hardware-in-the-loop (HIL) platforms have emerged as a promising solution, a systematic framework supporting…

Rotor-based hopping locomotion significantly improves efficiency and operation time as compared to purely flying systems; where most hopping robots use the liftoff states and an assumed ballistic trajectory to determine the hopping height.…

Fixed-wing unmanned aerial vehicles (UAVs) offer endurance and efficiency but lack low-speed agility due to highly coupled dynamics. We present an end-to-end sensing-to-control pipeline that combines bio-inspired hardware, physics-informed…

Human-in-the-loop (HITL) UAV operation is essential in complex and safety-critical aerial surveying environments, where human operators provide navigation intent while onboard autonomy must maintain accurate and robust state estimation. A…

This study addresses the optimisation of task allocation for Unmanned Aerial Vehicles (UAVs) within industrial monitoring missions. The proposed methodology integrates a Genetic Algorithms (GA) with a 2-Opt local search technique to obtain…

The past years have shown a remarkable growth in use-cases for micro aerial vehicles (MAVs). Conceivable indoor applications require highly robust environment perception, fast reaction to changing situations, and stable navigation, but…

This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…

With the emergence of new flapping-wing micro aerial vehicle (FWMAV) designs, a need for extensive and advanced mission capabilities arises. FWMAVs try to adapt and emulate the flight features of birds and flying insects. While current…

The goals of reducing energy costs, shifting electricity peaks, increasing the use of renewable energy, and enhancing the stability of the electric grid can be met in part by fully exploiting the energy flexibility potential of buildings…

We propose a multisensor fusion framework for onboard real-time navigation of a quadrotor in an indoor environment, by integrating sensor readings from an Inertial Measurement Unit (IMU), a camera-based object detection algorithm, and an…