相关论文: Where to Place a Heavy Payload on a Multirotor UAV…
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…
Being motivated by ceiling inspection applications via unmanned aerial vehicles (UAVs) which require close proximity flight to surfaces, a systematic control approach enabling safe and accurate close proximity flight is proposed in this…
This paper presents a trajectory-tracking controller for multi-rotor unmanned aerial vehicles (UAVs) in scenarios where only the desired position and heading are known without the higher-order derivatives. The proposed solution modifies the…
Providing connectivity to unmanned aerial vehicle-user equipments such as drones or flying taxis is a major challenge for tomorrow cellular systems. In this paper, the use of coordinated multi-point transmission for providing seamless…
We propose a motion planner for cable-driven payload transportation using multiple unmanned aerial vehicles (UAVs) in an environment cluttered with obstacles. Our planner is kinodynamic, i.e., it considers the full dynamics model of the…
In this paper, we develop a position estimation system for Unmanned Aerial Vehicles formed by hardware and software. It is based on low-cost devices: GPS, commercial autopilot sensors and dense optical flow algorithm implemented in an…
This paper discusses the conceptual design and proof-of-concept flight demonstration of a novel variable pitch quadrotor biplane Unmanned Aerial Vehicle concept for payload delivery. The proposed design combines vertical takeoff and landing…
We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of…
Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the…
Properly 3D placement of unmanned aerial vehicle mounted base stations (UAV-BSs) can effectively prolong the life-time of the mobile ad hoc network, since UAVs are usually powered by batteries. This paper involves the on-board circuit…
This paper presents a nonlinear control strategy for an aerial cooperative payload transportation system consisting of two quadrotor UAVs rigidly connected to a payload. The system includes human physical interaction facilitated by an…
Achieving precise lateral motion modeling and decoupled control in hover remains a significant challenge for tail-sitter Unmanned Aerial Vehicles (UAVs), primarily due to complex aerodynamic couplings and the absence of welldefined lateral…
This paper deals with the dynamics and controls of a quadrotor unmanned aerial vehicle that is connected to a fixed point on the ground via a tether. Tethered quadrotors have been envisaged for long-term aerial surveillance with high-speed…
In an era of rapid urbanization and e-commerce growth, efficient parcel delivery methods are crucial. This paper presents a detailed study of the aerodynamics and sensing analysis of drones for parcel delivery. Utilizing Computational Fluid…
Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…
Reliable positioning services are extremely important for users and devices in mountainous environments as it enables a variety of location-based applications. However, in such environments, the service reliability of conventional wireless…
In this paper, the efficient deployment of multiple unmanned aerial vehicles (UAVs) with directional antennas acting as wireless base stations that provide coverage for ground users is analyzed. First, the downlink coverage probability for…
Present work deals with the dynamics of vehicles which intentionally operate in the ground proximity. The dynamics in ground effect is influenced by the vehicle orientation with respect to the ground, since the aerodynamic force and moment…
We consider the hovering control problem for a class of multi-rotor aerial platforms with generically oriented propellers. Given the intrinsically coupled translational and rotational dynamics of such vehicles, we first discuss some…
The Pugachev's cobra maneuver is a dramatic and demanding maneuver requiring the aircraft to fly at extremely high Angle of Attacks (AOA) where stalling occurs. This paper considers this maneuver on tail-sitter UAVs. We present a simple yet…