相关论文: Where to Place a Heavy Payload on a Multirotor UAV…

This paper focuses on the design of a stabilizing control law for an aerial vehicle which is physically connected to a ground station by means of a tether cable. By taking advantage of the tensile force acting along the taut cable, it is…

Designing robust controllers for precise trajectory tracking with quadrotors is challenging due to nonlinear dynamics and underactuation, and becomes harder with flexible cable-suspended payloads that add degrees of freedom and hybrid…

We investigate the aerodynamic efficiency and flight dynamics of mono-wing and box-wing configurations across various parameters, including aspect ratio, velocity, and lift requirements. We find that although mono-wing configurations…

Localization plays a key role for safe operation of UAVs enabling beyond visual line of sight applications. Compared to GPS based localization, cellular networks can reduce the positioning error and cost since cellular connectivity is…

Problems associated with physical interactions using aerial mobile manipulators (AMM) are being independently addressed with respect to mobility and manipulability. Multirotor unmanned aerial vehicles (UAV) are a common choice for mobility…

Aerial grasping, particularly soft aerial grasping, holds significant promise for drone delivery and harvesting tasks. However, controlling UAV dynamics during aerial grasping presents considerable challenges. The increased mass during…

This work addresses the landing problem of an aerial vehicle, exemplified by a simple quadrotor, on a moving platform using image-based visual servo control. First, the mathematical model of the quadrotor aircraft is introduced, followed by…

This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…

From a maneuverability perspective, the main advantage of tilting multirotor UAVs lies in the dynamic variability of the feasible executable wrench, which represents a key asset for physical interaction tasks. Accordingly, cant-angle…

This paper presents the design and implementation of a self-reconfigurable V-shape formation controller for multiple unmanned aerial vehicles (UAVs) navigating through narrow spaces in a dense obstacle environment. The selection of the…

The vertical stabilizer is the key aerodynamic surface that provides an aircraft with its directional stability characteristic while ailerons and rudder are the primary control surfaces that give pilots control authority of the yawing and…

Stable aerial manipulation during dynamic tasks such as object catching, perching, or contact with rigid surfaces necessarily requires compliant behavior, which is often achieved via impedance control. Successful manipulation depends on how…

In recent years, unmanned aerial vehicles (UAVs) have been considered for telecommunications purposes as relays, caches, or IoT data collectors. In addition to being easy to deploy, their maneuverability allows them to adjust their location…

This article presents a three-dimensional nonlinear trajectory tracking control strategy for unmanned aerial vehicles (UAVs) in the presence of spatial constraints. As opposed to many existing control strategies, which do not consider…

We propose a new position control strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as…

Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…

The unmanned aerial vehicle (UAV) is one of the technological breakthroughs that supports a variety of services, including communications. UAV will play a critical role in enhancing the physical layer security of wireless networks. This…

Unmanned aerial vehicles (UAVs) have been recently utilized in multi-access edge computing (MEC) as edge servers. It is desirable to design UAVs' trajectories and user to UAV assignments to ensure satisfactory service to the users and…

Unmanned aerial vehicle (UAV) base stations (BSs) are reliable and efficient alternative to full fill the coverage and capacity requirements when the backbone network fails to provide such requirements due to disasters. In this paper, we…

The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have been evaluated before. Among all of these solutions,…