6 accepted papers
This letter presents a comprehensive comparative study of Incremental Nonlinear Dynamic Inversion (INDI) and standard Nonlinear Dynamic Inversion (NDI) for smooth trajectory tracking on Samara Seed-Inspired Single-Actuator Monocopters (SAM). While prior work on SAMs has largely focused on hover stab…
In this paper, a soft rotary wing robot capable of flight and control is presented. The Collapsible Airfoil Single Actuator ROtor-craft (CASARO) is a single actuator monocopter that derives its geometric properties from the Samara seed. CASARO achieves better flight efficiency, lift, and handling er
This letter presents a comprehensive comparative study of Incremental Nonlinear Dynamic Inversion (INDI) and standard Nonlinear Dynamic Inversion (NDI) for smooth trajectory tracking on Samara Seed-Inspired Single-Actuator Monocopters (SAM). While prior work on SAMs has largely focused on hover stab
In this paper, the dynamics of an emerging class of rotating nature-inspired micro aerial vehicles known as the Monocopter is proven and shown to be differentially flat. By exploiting this phenomenon, trajectory tracking can now be implemented on Monocopters via feed-forward terms that are computed…
In this paper, the high angular rate estimation for simultaneous localisation and mapping (SLAM) of a Flying Li-DAR (Flydar) is presented. The proposed EKF-based algorithm exploits the sinusoidal magnetometer measurement generated by the continuously rotating airframe for estimation of the robot hov…
Pose estimation is of paramount importance for flight control as well as localization and navigation of Unmanned Aerial Vehicles (UAVs) to enable autonomous operations. In environments without GPS, such estimation can only be determined using onboard sensors; optical flow using a monocular camera is…