9 accepted papers
Generative adversarial networks (GANs) have emerged as a powerful tool for generating high-fidelity data. However, the main bottleneck of existing approaches is the lack of supervision on the generator training, which often results in undamped oscillation and unsatisfactory performance. To address t…
Inspired by the advantages from natural birds' shape-morphing adapted flight performance, this work investigates how the bioinspired adaptative morph induced inertia variation affects the flight performance of a morphing quad-rotor. Extensive numerical and experimental evaluations on a custom-built
This paper presents our comparative study on how the flight performances of an in-flight morphing quad-rotor are affected by the morph induced inertia variation. A custom-built in-flight morphing quad-rotor was employed in numerical and experimental tests for the study and analysis. In these tests,…
In this paper, we investigate the consensus problem of multiple unmanned aerial vehicles (UAVs) in the presence of environmental constraints under a general communication topology containing a directed spanning tree. First, based on a position transformation function, we propose a novel dynamic refe…
In this paper, we investigate the perception-aware path finding, planning and following for a class of snake robots autonomously serpentining in an unmodeled and unknown environment. In the work, the onboard LiDAR sensor mounted on the head of the snake robot is utilized to reconstruct the local env…
In this paper, a simple tracking control scheme is proposed for quadrotor systems with uncertain dynamics. It precludes the necessity for prohibitive analytic computation of the derivatives of the desired (virtual) attitude that is typically employed in controlling quadrotor systems. Moreover, this…
This paper investigates the curve path following problem for a class of planar underactuated bio-inspired snake robots. The time-varying line-of-sight (LOS) guidance law and the cubic spline interpolation (CSI) path-planning method are employed. Existing studies focus on straight line path following…
This paper investigates the straight path following problem for a class of underactuated bio-inspired snake robots on ground with unknown and varied friction coefficients. Existing works usually design control input requiring the exact values of these friction coefficients, which however rely on the…
This letter investigates the straight path following problem for a class of underactuated bioinspired snake robots on ground with unknown and varied friction coefficients. Existing works usually design control input requiring the exact values of these friction coefficients, which however rely on the