相关论文: FalconWing: An Ultra-Light Indoor Fixed-Wing UAV P…
This paper studies the bearing-based simultaneous localization and affine formation tracking (SLAFT) control problem for fixed-wing unmanned aerial vehicles (UAVs). In the considered problem, only a small set of UAVs, named leaders, can…
We introduce Phantom Twist, a type of single-propeller UAV designed to achieve low visibility through high-speed spinning and the exploitation of motion blur. We develop a two-stage automated design pipeline that optimizes the placement of…
Autonomous 3D scanning of open-world target structures via drones remains challenging despite broad applications. Existing paradigms rely on restrictive assumptions or effortful human priors, limiting practicality, efficiency, and…
Significant challenges are posed by simulation and testing in the field of low-altitude unmanned aerial vehicle (UAV) traffic due to the high costs associated with large-scale UAV testing and the complexity of establishing low-altitude…
A tracking controller for unmanned aerial vehicles (UAVs) is developed to track moving targets undergoing unknown translational and rotational motions. The main challenges are to control both the relative positions and angles between the…
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…
This paper considers a collaborative tracking control problem using a group of fixed-wing unmanned aerial vehicles (UAVs) with constant and non-identical speeds. The dynamics of fixed-wing UAVs are modelled by unicycle-type equations with…
The paper introduces a novel framework for safe and autonomous aerial physical interaction in industrial settings. It comprises two main components: a neural network-based target detection system enhanced with edge computing for reduced…
This paper introduces a holistic vision-language foundation model tailored for remote sensing, named Falcon. Falcon offers a unified, prompt-based paradigm that effectively executes comprehensive and complex remote sensing tasks. Falcon…
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…
Novice pilots find it difficult to operate and land unmanned aerial vehicles (UAVs), due to the complex UAV dynamics, challenges in depth perception, lack of expertise with the control interface and additional disturbances from the ground…
This work presents FlyHaptics, an aerial haptic interface tracked via a Vicon optical motion capture system and built around six five-bar linkage assemblies enclosed in a lightweight protective cage. We predefined five static tactile…
The success of surveillance applications involving small unmanned aerial vehicles (UAVs) depends on how long the limited on-board power would persist. To cope with this challenge, alternative renewable sources of lift are sought. One…
Cameras provide a rich source of information while being passive, cheap and lightweight for small and medium Unmanned Aerial Vehicles (UAVs). In this work we present the first implementation of receding horizon control, which is widely used…
This paper addresses the lack of a general methodology for the controller synthesis of an optical instrument on-board a stratospheric balloon-borne platform, such as a telescope or siderostat, to meet pointing requirements that are becoming…
Micro aerial vehicles are becoming increasingly important in search and rescue operations due to their agility, speed, and ability to access confined spaces or hazardous areas. However, designing lightweight aerial systems presents…
In this work, we introduce OmniDrones, an efficient and flexible platform tailored for reinforcement learning in drone control, built on Nvidia's Omniverse Isaac Sim. It employs a bottom-up design approach that allows users to easily design…
Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing…
Autonomous aerial scanning of target structures is crucial for practical applications, requiring online adaptation to unknown obstacles during flight. Existing methods largely emphasize collision avoidance and efficiency, but overlook…
This paper addresses the design and application controller for a small-size unmanned aerial vehicle (UAV). In this work, the main objective is to study the modeling and attitude controller design for a small size helicopter. Based on a…