相关论文: Safe Periodic Trochoidal Paths for Fixed-Wing UAVs…
This research paper presents a novel approach for navigating a micro UAV (Unmanned Aerial Vehicle) through narrow passages using only its onboard camera feed and a PID control system. The proposed method uses edge detection and homography…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…
Modern air vehicles perform a wide range of operations, including transportation, defense, surveillance, and rescue. These aircraft can fly in calm conditions but avoid operations in gusty environments, encountered in urban canyons, over…
The ability to adapt to changing environments is crucial for the autonomous navigation systems of Unmanned Aerial Vehicles (UAVs). However, existing navigation systems adopt fixed execution configurations without considering environmental…
This paper presents an agile Unmanned Aerial Vehicle (UAV) landing control by considering the effect of ship's oscillations and moving, and also disturbance (i.e., crosswind) is considered. The presented control system can make the…
For enabling efficient, large-scale coordination of unmanned aerial vehicles (UAVs) under the labeled setting, in this work, we develop the first polynomial time algorithm for the reconfiguration of many moving bodies in three-dimensional…
A special type of rotary-wing Unmanned Aerial Vehicles (UAV), called Quadcopter have prevailed to the civilian use for the past decade. They have gained significant amount of attention within the UAV community for their redundancy and ease…
Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…
We present a flexible family of 3D mobility models suitable for unmanned aerial vehicles (UAV). Based on stochastic differential equations, the models offer a unique property of explicitly incorporating the mobility control mechanism and…
Morphing aerial vehicles offer enhanced maneuverability and fuel efficiency compared to fixed-wing configurations. However, the trade-off between performance gains and control cost in dynamic, unsteady maneuvers remains under-explored. This…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Modern coverage path planning (CPP) for holonomic UAVs in emergency response must contend with diverse environments where regions of interest (ROIs) often take the form of highly irregular polygons, characterized by asymmetric shapes, dense…
Designing continuous trajectories whose time-averaged occupancy provably matches a prescribed spatial density (the \emph{ergodic coverage} problem) is central to UAV-assisted data collection and sensing, robotic exploration, and mobile…
SANDO is a safe trajectory planner for 3D dynamic unknown environments, where obstacle locations and motions are unknown a priori and a collision-free plan can become unsafe at any moment, requiring fast replanning. Existing soft-constraint…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
In this paper, we investigate robust resource allocation algorithm design for multiuser downlink multiple-input single-output (MISO) unmanned aerial vehicle (UAV) communication systems, where we account for the various uncertainties that…
Search-based motion planning algorithms have been widely utilized for unmanned aerial vehicles (UAVs). However, deploying these algorithms on real UAVs faces challenges due to limited onboard computational resources. The algorithms struggle…
Coverage path planning (CPP) is the task of designing a trajectory that enables a mobile agent to travel over every point of an area of interest. We propose a new method to control an unmanned aerial vehicle (UAV) carrying a camera on a CPP…
For accomplishing a variety of missions in challenging environments, the capability of navigating with full autonomy while avoiding unexpected obstacles is the most crucial requirement for UAVs in real applications. In this paper, we…
The flight time of multirotor unmanned aerial vehicles (UAVs) is typically constrained by their high power consumption. Tethered power systems present a viable solution to extend flight times while maintaining the advantages of multirotor…