6 accepted papers
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on recedinghorizon nonlinear model predictive control (NMPC) to plan maneuvers across an expanded flight envelope to enable interagent collision avo
We report a novel model-based nullspace adaptive trajectory-tracking control (NS-ATTC) algorithm for fully-actuated 6-degree-of-freedom (DOF) underwater vehicles which estimates unknown plant and actuator model parameters simultaneously. We provide a stability and convergence analysis with proof of…
In this letter, we present an approach for achieving precision post-stall landings with medium-sized Group 1 Unmanned Aerial Systems (UAS). To do this, we employ an aggressive dive-and-stall maneuver to significantly reduce maneuver distance, time, and touchdown speed. Our approach relies on a nonli
Approaches for stochastic nonlinear model predictive control (SNMPC) typically make restrictive assumptions about the system dynamics and rely on approximations to characterize the evolution of the underlying uncertainty distributions. For this reason, they are often unable to capture more complex d
This paper outlines an algorithmic approach for the automatic coordination and planning of heterogeneous multi-robot teams. Specifically, this work addresses the marsupial-based subset of multi-robot teams, where “carrier” robots transport and deploy “passenger” robots. The approach starts with a hi…
This paper presents an autonomous perching concept for multirotor aerial vehicles. The Autonomous Grasping Robotic Aerial System for Perching (AGRASP)represents a novel integration of robotics perception, vision-based path planning, and biomimetically-inspired manipulation on a small, lightweight ae…