相关论文: ABAMGuid+: An Enhanced Aerocapture Guidance Framew…
The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of…
We propose a methodology for autonomous aerial navigation and obstacle avoidance of micro aerial vehicles (MAV) using nonlinear model predictive control (NMPC) and we demonstrate its effectiveness with laboratory experiments. The proposed…
Small body exploration is a pertinent challenge due to low gravity environments and strong sensitivity to perturbations like Solar Radiation Pressure (SRP). Thus, autonomous methods are being developed to enable safe navigation and control…
This paper investigates the control problem of dual-arm unmanned aerial manipulator systems (DAUAMs). Strong coupling between the dual-arm and the multirotor platform, together with unmodeled dynamics and external disturbances, poses…
This paper describes an online off-policy data-driven reinforcement learning based-algorithm to regulate and control the relative position of a deputy satellite in an autonomous satellite docking problem. The optimal control policy is…
This paper presents a Genetic Algorithm (GA) designed to reconfigure a large group of modular Unmanned Aerial Vehicles (UAVs), each with different weights and inertia parameters, into an over-actuated flight structure with improved dynamic…
This paper proposes an adaptive dynamic programming-based adaptive-gain sliding mode control (ADP-ASMC) scheme for a fixed-wing unmanned aerial vehicle (UAV) with matched and unmatched disturbances. Starting from the dynamic of fixed-wing…
Urban air mobility (UAM) is a concept for creating an airborne transportation system that operates in urban settings with an on-board pilot and/or remote pilot in command (RPIC), or with a fully autonomous architecture. Although the…
This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…
Advanced Air Mobility (AAM) introduces a new, efficient mode of transportation with the use of vehicle autonomy and electrified aircraft to provide increasingly autonomous transportation between previously underserved markets. Safe and…
Additive manufacturing (AM) techniques hold promise but face significant challenges in process planning and optimization. The large temporal and spatial variations in temperature that can occur in layer-wise AM lead to thermal excursions,…
This paper presents a constraint-aware control framework for underactuated aerial manipulators, enabling accurate end-effector trajectory tracking while explicitly accounting for safety and feasibility constraints. The control problem is…
Recent developments in generative models have enabled the generation of photo-realistic human face images, and downstream tasks utilizing face generation technology have advanced accordingly. However, models for downstream tasks are yet…
Orbital angular momentum (OAM)-encoding has recently emerged as an effective approach for increasing the channel capacity of free-space optical communications. In this paper, OAM-based decoding is formulated as a supervised classification…
The growing number of noncooperative flying objects has prompted interest in sample-return and space debris removal missions. Current solutions are both costly and largely dependent on specific object identification and capture methods. In…
Although battery technology has advanced tremendously over the past decade, it continues to be a bottleneck for the mass adoption of electric aircraft in long-haul cargo and passenger delivery. The onboard energy is expected to be utilized…
Urban Air Mobility (UAM) has emerged as a transformative solution to alleviate urban congestion by utilizing low-altitude airspace, thereby reducing pressure on ground transportation networks. To enable truly efficient and seamless…
This paper presents a novel synthesis method for designing an optimal and robust guidance law for a non-throttleable upper stage of a launch vehicle, using a convex approach. In the unperturbed scenario, a combination of lossless and…
Tracking position and orientation independently affords more agile maneuver for over-actuated multirotor Unmanned Aerial Vehicles (UAVs) while introducing undesired downwash effects; downwash flows generated by thrust generators may…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…