In order to operate safely in windy and gusty conditions, multirotor VTOL aircraft require gust resilience. This paper shows that their gust rejection properties can be improved by applying a small amount of fixed outward rotor tilt. Standard aerodyn...
This paper presents a novel control framework for enhancing the attitude stabilization of multirotor UAVs using Control Moment Gyros (CMGs) and a Disturbance Robust Drive Law (DRDL). Due to their lightweight and compact structure, multirotor UAVs are...
Rotorcraft Unmanned Aerial Vehicles (UAVs) often need to take off and land under complex working conditions. The rugged terrains may cause the UAV to tilt during takeoff and landing and even cause rollover and other accidents in severe cases. In this...
The stability of unmanned aerial vehicles (UAVs) during propulsion failure remains a critical safety challenge. This study presents a center-of-mass (CoM) correction device, a compact, under-slung, and dual-axis prismatic stage, which can reposition...
This article investigates the causes of occasional flight instability observed in Unmanned Aerial Vehicles (UAVs). The issue manifests as unexpected oscillations that can lead to emergency landings. The analysis focuses on delays in the Extended Kalm...
Aiming at the formation problem of the multi-rotor UAV swarm, this paper adopts a multi-rotor UAV swarm formation control method based on a stress matrix to ensure the stability of multi-rotor UAV swarm formation. On the basis of achieving the target...
This article presents a novel vision-based autonomous landing method utilizing a multirotor and a gimbal camera, which is designed to be applicable from any initial position within a broad space by addressing the problems of a field of view and singu...
While using multirotor UAVs for transport of suspended payloads, there is a need for stability along the desired path, in addition to avoidance of any excessive payload oscillations, and a good level of precision in maintaining the desired path of th...
Drones have evolved rapidly over the decades, but the limited flight time inhibits multirotor drones from performing long-duration tasks. Batteries that power drones are considered an inadequate power source due to their low energy density. As gasoli...
This paper proposes a multipurpose reinforcement learning based low-level multirotor unmanned aerial vehicles control structure constructed using neural networks with model-free training. Other low-level reinforcement learning controllers developed i...
Wind disturbance posed difficulties for the stability of the micro air vehicles (MAVs) with attitude variation. In this paper, the aerodynamic performance of a MAV with six coaxial rotor pairs considering the horizontal wind is investigated by both e...
The design and implementation of a multi-stage PID (MS-PID) controller for non-inertial referenced UAVs are highly complex. Symmetrical multirotor UAVs are unstable systems, and it is thought that the kinematics of the symmetrical UAV rotor, such as...
The autonomous underwater helicopter, shortly referred to as AUH, is a newly developed underwater platform with a unique disc shape. An autonomous underwater helicopter with a suboptimal disc shape is presented in this paper. It adopts a multirotor c...
Unknown variables in the environment, such as wind disturbance during a flight, affect the accurate trajectory of multi-rotor UAVs. This study focuses on the intelligent supervisory neurocontrol of trajectory tracking for a nonplanar twelve-rotor UAV...
In this study, the aerodynamic performance of single- and multi-rotor sail systems was numerically investigated under various inflow directions and array configurations using Computational Fluid Dynamics (CFD) simulations. For a single-rotor sail, th...
Multi-surface sliding mode control addresses the limitations of traditional sliding mode control by employing multiple sliding surfaces to handle uncertainties, disturbances, and nonlinearities. The design process involves developing sliding surfaces...
This paper aims to develop a multi-rotor-based visual tracker for a specified moving object. Visual object-tracking algorithms for multi-rotors are challenging due to multiple issues such as occlusion, quick camera motion, and out-of-view scenarios....
This research presents the first known example of a Thrust-Augmented Rocker Bogie (TARB). As a robust and passive mechanisms, the rocker bogie suspension system has seen widespread application in ground-based robotic planetary exploration rovers. How...
This paper addresses an attitude tracking control design applied to multirotor unmanned aerial vehicles (UAVs) based on an ADRC approach. The proposed technique groups the endogenous and exogenous disturbances into a total disturbance, and then this...
This paper gathers the dynamical modeling of an unmanned aircraft and the design and simulation of the control system, allowing it to perform a Vertical Take-Off (VTOL) maneuver, a fixed-wing (FW) flight and a transition between the two configuration...
This paper proposes an improved 3D-Vector Field Histogram (3D-VFH) algorithm for autonomous flight and local obstacle avoidance of multi-rotor unmanned aerial vehicles (UAVs) in a confined environment. Firstly, the method employs a target point coord...
Today, there is a conspicuous upward trend for the development of unmanned aerial vehicles (UAVs), especially in the field of multirotor drones. Their advantages over fixed-wing aircrafts are that they can hover, which allows their usage in a wide ra...
Aerial manipulators expand the application scenarios of manipulators into the air. To complete various operations, the contact force between the aerial manipulator and the target must be precisely controlled. In this study, we first established the m...
A new multirotor aerial vehicle with two rotor arms formed in a V-shape configuration is introduced in this paper. To figure out the aerodynamic interference effects between rotors as an implication of the control method, this paper discusses the aer...
Recently, various research studies have been developed to address communication sensors for Unmanned Aerial Systems (UASs). In particular, when pondering control difficulties, communication is a crucial component. To this end, strengthening a control...
A vertical take-off and landing plane (VTOL plane) is a fixed-wing unmanned aerial vehicle (FWUAV) configuration with the ability to take off and land vertically. It combines the benefits of fixed-wing and multirotor configurations, which gives it a...
Oysters support an economically important fishery in many locations in the United States and provide benefits to the surrounding environment by filtering water, providing habitat for fish, and stabilizing shorelines. Changes in oyster reef health ref...
A Vertical Take-Off and Landing-Plane (VTOL-Plane) is an Unmanned Aerial Vehicle (UAV) that combines multirotor and fixed-wing configurations. It has a good cruise range compared to a VTOL vehicle. Furthermore, it can take-off and land vertically. Th...
Electric vertical take-off and landing (eVTOL) aircraft are transforming urban air mobility (UAM) by providing efficient, low-emission, and rapid transit in congested cities. However, ensuring safe and stable landings remains a critical challenge, pa...
Hybrid aerial underwater vehicles (HAUVs) have shown broad development prospects for rapid emergency response and marine scientific observation at the sea–air interface in recent decades. The trans-media motion control problem of HAUV is a spec...
This paper presents a motion control scheme for a new concept of omnidirectional aerial vehicle for transportation and manipulation tasks. The considered aerial platform is a novel quadrotor with the capability of providing multi-directional thrust b...
A method is proposed to estimate the swing state of a suspended payload in multirotor drone delivery scenarios. Starting from the equations of motion of the coupled slung load system, defined by two point masses interconnected by a rigid link, a recu...
This paper is concerned with the robust collision-free guidance and control of underactuated multirotor aerial vehicles in the presence of moving obstacles capable of accelerating, linear velocity and rotor thrust constraints, and matched model uncer...
The tilt-rotor unmanned aerial vehicle (TRUAV) is characterized by both multi-rotor vertical takeoff or landing and fixed-wing long-duration flight. Not only the structure of TRUAV is complex, but also the aerodynamic coupling is severe. Especially w...
This paper presents a novel orthogonal octo-rotor Unmanned Aerial Vehicle (UAV) and addresses the aerodynamics of the UAV with varied rotor spacing by both numerical simulations and experiments. Compared with the traditional planar multirotor UAV, th...
Hyperspectral imagery has proven its potential in many research applications, especially in the field of environmental sciences. Currently, hyperspectral imaging is generally performed by satellite or aircraft platforms, but mini-UAV (Unmanned Aerial...
The energy efficiency and hover stability of unmanned aerial vehicles are critical factors, since improper battery utilization and unstable control are major sources of operational failures and accidents. The proportional–integral–derivat...
It is known that new power transmission line inspection techniques have been developed over the last few years with great potential to improve and, in some cases, even replace traditional inspection procedures such as using helicopters and cars. A se...
Water quality sampling and monitoring are fundamental to water environmental protection. The purpose of this study was to develop a water quality sampling and multi-parameter monitoring system mounted on a multi-rotor unmanned aerial vehicle (UAV). T...
Unmanned Aerial Vehicles (UAVs) have revolutionized various industries due to their adaptability, efficiency, and capability to operate in diverse environments. However, conventional UAV designs face trade-offs between flight endurance and maneuverab...
This paper presents an augmented reality-based method for geo-registering videos from low-cost multi-rotor Unmanned Aerial Vehicles (UAVs). The goal of the proposed method is to conduct an accurate geo-registration and target localization on a UAV vi...
This study focuses on establishing a conceptual design for a multirotor unmanned aerial vehicle (UAV). The objectives of this octocopter are to reduce the number of flight cancelations and car accidents owing to low-visibility issues and to improve a...
Modern aviation technology development heavily relies on computer simulations. SIL (Software-In-The-Loop) simulations are essential for evaluating autopilots and control algorithms for multi-rotors, including drones and other UAVs (Unmanned Aerial Ve...
A substantial amount of air pollution is emitted from urban sources. Hence, investigating air pollutant dispersion from urban sources is of great importance. The mechanisms influencing air pollutant dispersion also need to be studied thoroughly. Unma...