4 accepted papers
In this paper, we use a machine learning approach to stabilize a Single Actuator Monocopter (SAM), showing its ability to operate autonomously outdoors utilizing an onboard Inertial Measurement Unit (IMU). We introduce a neural network-based proportional stabilizer that works in parallel to cascaded…
The Samara Autorotating Wing (SAW) is a bioinspired autorotating glider capable of both controlled autorotation and diving modes. This work presents control and deployment strategies that enable precision landing of the platform from low altitude. The proposed control approach leverages cyclic contr…
In this paper, we introduce a Modular Single Actuator Monocopter (M-SAM), which is capable of flying in both singular configuration and cooperative configuration. From singular mode, M-SAMs can be manually assembled into cooperative mode, using magnetic connectors built into the body of each M-SAM u…
In this work, reinforcement learning is used to develop a position controller for an underactuated nature-inspired Unmanned Aerial Vehicle (UAV). This particular configuration of UAVs achieves lift by spinning its entire body contrary to standard multi-rotors or fixed-wing aircraft. Deep Determinist…