相关论文: Vertical Planetary Landing on Sloped Terrain Using…
This paper addresses the problem of developing an algorithm for autonomous ship landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs), using only a monocular camera in the UAV for tracking and localization.…
Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain…
This research endeavors to design the perching maneuver and control in ornithopter robots. By analyzing the dynamic interplay between the robot's flight dynamics, feedback loops, and the environmental constraints, we aim to advance our…
Lightweight aerial swarms have potential applications in scenarios where larger drones fail to operate efficiently. The primary foundation for lightweight aerial swarms is efficient relative localization, which enables cooperation and…
Recent studies of optimization methods and GNC of spacecraft near small bodies focusing on descent, landing, rendezvous, etc., with key safety constraints such as line-of-sight conic zones and soft landings have shown promising results;…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
The development of autonomous lightweight MAVs, capable of navigating in unknown indoor environments, is one of the major challenges in robotics. The complexity of this challenge comes from constraints on weight and power consumption of…
Stabilizing vertical dynamics for on-road and off-road vehicles is an important research area that has been looked at mostly from the point of view of ride comfort. The advent of autonomous vehicles now shifts the focus more towards…
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 spacecraft relative navigation technology has been planned for and applied to many famous space missions. The development of on-board electronics systems has enabled the use of vision-based and LiDAR-based methods to achieve…
Many classical and modern machine learning algorithms require solving optimization tasks under orthogonality constraints. Solving these tasks with feasible methods requires a gradient descent update followed by a retraction operation on the…
This paper considers the coupled orbit and attitude dynamics of a dumbbell spacecraft around an asteroid. Geometric methods are used to derive the coupled equations of motion, defined on the configuration space of the special Euclidean…
Control algorithms initially developed for tilt-wing vertical take-off and landing (VTOL) aircraft are adapted to the tilt-rotor design. The main difference between the two types of planes is the more complicated interaction between…
In this paper we study the distance-based docking problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to…
Navigating unmanned aerial vehicles in environments where GPS signals are unavailable poses a compelling and intricate challenge. This challenge is further heightened when dealing with Nano Aerial Vehicles (NAVs) due to their compact size,…
Fixed-wing Unmanned Aerial Vehicles (UAVs) are one of the most commonly used platforms for the burgeoning Low-altitude Economy (LAE) and Urban Air Mobility (UAM), due to their long endurance and high-speed capabilities. Classical obstacle…
Fixed-wing vertical take-off and landing (VTOL) aircraft pose a unique control challenge that stems from complex aerodynamic interactions between wings and rotors. Thus, accurate estimation of external forces is indispensable for achieving…
Autonomous landing in cluttered or unstructured environments remains a safety-critical challenge for unmanned aerial vehicles (UAVs), particularly under noisy perception caused by sensor uncertainty and platform-induced disturbances such as…
Autonomy is a key challenge for future space exploration endeavours. Deep Reinforcement Learning holds the promises for developing agents able to learn complex behaviours simply by interacting with their environment. This paper investigates…
This paper focuses on a novel robotic system MorphoLander representing heterogeneous swarm of drones for exploring rough terrain environments. The morphogenetic leader drone is capable of landing on uneven terrain, traversing it, and…