10 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…
Monocopters are nature-inspired, single-wing, rotating aerial vehicles that fly by spinning their entire body. Meanwhile, bicopters are twin propeller-based aerial vehicles that control their attitude by changing the direction of thrust from the motors using two servos. In this paper, we present a n
In this work, a collaborative co-evolution approach is adopted to solve a joint physical design and feedback control optimization problem of a nature-inspired Unmanned Aerial Vehicle (UAV). Unlike traditional multirotors and fixed-wing aircraft, lift is achieved by spinning its entire body with atta
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…
In this letter, the design optimization and localization with sparse sensing array of range-based sensors are presented. This optimization focuses on an optimized sparse sensing array for localization and autonomous navigation in tunnel environments with right rectangular prism geometry and the auto
To deliver lightweight sensor payloads to disaster-struck areas by means of an aerial deployment, a novel bio-inspired method capitalizing on autorotation to slow down vertical descent rate is proposed. This concept is illustrated using the samara autorotating wing (SAW) platform, which features a u
The seeds of Maple trees (Samara) use autorotation as a unique mechanism to disperse their seeds. By exploiting gyroscopic stability of a spinning wing, the Samara is able to cover large horizontal distance despite having no form of propulsion. We applied and adapted this natural ability in our nove…
The seeds of Maple trees (Samara) use autorotation as a unique mechanism to disperse their seeds. By exploiting gyroscopic stability of a spinning wing, the Samara is able to cover large horizontal distance despite having no form of propulsion. We applied and adapted this natural ability in our nove