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316 Results Found

  • Article
  • Open Access
11 Citations
5,508 Views
26 Pages

Quadcopters in Smart Agriculture: Applications and Modelling

  • Katia Karam,
  • Ali Mansour,
  • Mohamad Khaldi,
  • Benoit Clement and
  • Mohammad Ammad-Uddin

9 October 2024

Despite technological growth and worldwide advancements in various fields, the agriculture sector continues to face numerous challenges such as desertification, environmental pollution, resource scarcity, and the excessive use of pesticides and inorg...

  • Article
  • Open Access
22 Citations
8,757 Views
27 Pages

Quadcopters Testing Platform for Educational Environments

  • Uriel Veyna,
  • Sergio Garcia-Nieto,
  • Raul Simarro and
  • Jose Vicente Salcedo

16 June 2021

This work focuses on the design and construction of an experimental test bench of three degrees of freedom with application in educational environments. It is constituted by a gyroscopic structure that allows the movements of a quadcopter to analyze...

  • Article
  • Open Access
6 Citations
3,352 Views
22 Pages

Fault-Tolerant Control for Quadcopters Under Actuator and Sensor Faults

  • Kenji Fabiano Ávila Okada,
  • Aniel Silva Morais,
  • Laura Ribeiro,
  • Caio Meira Amaral da Luz,
  • Fernando Lessa Tofoli,
  • Gabriela Vieira Lima and
  • Luís Cláudio Oliveira Lopes

15 November 2024

Fault detection and diagnosis (FDD) methods and fault-tolerant control (FTC) have been the focus of intensive research across various fields to ensure safe operation, reduce costs, and optimize maintenance tasks. Unmanned aerial vehicles (UAVs), part...

  • Article
  • Open Access
1,002 Views
18 Pages

15 October 2025

With the rapid proliferation of drone applications, multi-UAV formation flights are becoming increasingly prevalent. While most existing studies focus on the aerodynamics of a single drone, aerodynamic interactions within UAV formations—particu...

  • Article
  • Open Access
20 Citations
5,288 Views
22 Pages

Balloons and Quadcopters: Intercomparison of Two Low-Cost Wind Profiling Methods

  • Mikhail Varentsov,
  • Victor Stepanenko,
  • Irina Repina,
  • Arseniy Artamonov,
  • Vasiliy Bogomolov,
  • Natalia Kuksova,
  • Ekaterina Marchuk,
  • Artem Pashkin and
  • Alexander Varentsov

14 March 2021

Experimental field campaigns are an essential part of atmospheric research, as well as of university education in the field of atmospheric physics and meteorology. Experimental field observations are needed to improve the understanding of the surface...

  • Article
  • Open Access
6 Citations
4,674 Views
41 Pages

20 May 2023

In this study, a sliding mode surface controller (SMC) designed for a quadcopter is experimentally tested. The SMC was combined with disturbance observers in six degrees of freedom of the quadcopter to effectively reject external disturbances. While...

  • Article
  • Open Access
5 Citations
1,729 Views
27 Pages

Third-Order Sliding Mode Control for Trajectory Tracking of Quadcopters Using Particle Swarm Optimization

  • Muhammad Rizwan Chughtai,
  • Iftikhar Ahmad,
  • Abdullah Mughees,
  • Muddesar Iqbal,
  • Dhafer Almakhles and
  • Mahmoud Abdelrahim

26 February 2025

This study focuses on designing a controller for trajectory tracking of quadcopters using advanced sliding-mode techniques. Specifically, an integral terminal sliding-mode control based on an adaptive barrier function with a super-twisting reaching l...

  • Proceeding Paper
  • Open Access
1,066 Views
4 Pages

Optical-Flow-Based Algorithm of Depth Estimation with Model-Free Control Policy on Autonomous Nano Quadcopters for Obstacle Avoidance

  • Jia-Jun Lai,
  • Sheng-Qian Li,
  • Fang-Kai Hsiao,
  • Jheng-Lin Lin,
  • Jhin-Hao Lai,
  • Chen-Fu Yeh,
  • Chung-Chuan Lo and
  • Ya-Tang Yang

4 September 2025

Nano quadcopters are small, agile, and cost-effective Internet of Things platforms, especially appropriate for narrow and cluttered environments. We developed a model-free control policy combined with FlowDep, an efficient optical flow depth estimati...

  • Article
  • Open Access
11 Citations
4,104 Views
20 Pages

18 April 2020

This paper investigates the problem of the time-varying formation control of a second-order dynamic agent based on a distributed dynamic event-triggered algorithm. In this problem, each agent can exchange the information of its position and velocity...

  • Article
  • Open Access
5 Citations
2,391 Views
20 Pages

Vibrations often result in fatigue breakage in quadcopter flight operations. Reducing the vibration effect is the main important issue for quadcopter flight. Enhanced dynamic stiffness is required in the quadcopter control system for the vibration re...

  • Article
  • Open Access
10 Citations
3,696 Views
29 Pages

The problem addressed in the present paper is the design of a controller based on an evolutionary neural network for autonomous flight in quadrotor systems. The controller’s objective is to govern the quadcopter in such a way that it reaches a...

  • Article
  • Open Access
52 Citations
16,770 Views
20 Pages

Design and Implementation of a Dual-Axis Tilting Quadcopter

  • Ali Bin Junaid,
  • Alejandro Diaz De Cerio Sanchez,
  • Javier Betancor Bosch,
  • Nikolaos Vitzilaios and
  • Yahya Zweiri

20 October 2018

Standard quadcopters are popular largely because of their mechanical simplicity relative to other hovering aircraft, low cost and minimum operator involvement. However, this simplicity imposes fundamental limits on the types of maneuvers possible due...

  • Article
  • Open Access
102 Citations
7,098 Views
16 Pages

15 January 2021

Quadcopters are widely used in a variety of military and civilian mission scenarios. Real-time online detection of the abnormal state of the quadcopter is vital to the safety of aircraft. Existing data-driven fault detection methods generally usually...

  • Article
  • Open Access
2 Citations
3,847 Views
27 Pages

16 November 2021

This paper studies the quadcopter’s mutual interference phenomenon. The flow field of the quadcopter at different flight speeds is simulated by solving the three-dimensional unsteady Reynolds averaged Navier-Stokes equations with sliding mesh methods...

  • Feature Paper
  • Article
  • Open Access
13 Citations
7,523 Views
29 Pages

The Design and Implementation of a Custom Platform for the Experimental Tuning of a Quadcopter Controller

  • Michał Waliszkiewicz,
  • Konrad Wojtowicz,
  • Zdzisław Rochala and
  • Eulalia Balestrieri

30 March 2020

This paper describes the development process of the quadcopter-based unmanned flying platform, designed for testing and experimentation purposes. The project features custom-made hardware, which includes the prototype quadcopter frame and the flight...

  • Review
  • Open Access
1 Citations
2,965 Views
38 Pages

5 September 2025

This paper provides a comprehensive investigation of nonlinear robust control methodologies, with a specific emphasis on the development of sliding mode controllers (SMCs) for quadcopter unmanned aerial vehicles (UAVs). Quadcopters are highly interco...

  • Article
  • Open Access
2 Citations
5,631 Views
19 Pages

Quadcopter Modeling Using a System for UAV Parameters Measurement

  • Jozef Novotňák,
  • Zoltán Szőke,
  • Patrik Kašper and
  • Miroslav Šmelko

22 June 2024

This article deals with quadcopter modeling using a system for the measurement of unmanned aerial vehicle (UAV) parameters. UAVs are often equipped with various measurement devices and equipment for measurement, which significantly affects their weig...

  • Article
  • Open Access
1,458 Views
11 Pages

Wind Source Localization System Based on a Palm-Sized Quadcopter

  • Keisuke Yokota,
  • Koh Hosoda and
  • Shunsuke Shigaki

23 July 2024

In this study, we implemented a compact wind direction sensor on a palm-sized quadcopter to achieve wind source localization (WSL). We designed an anemotaxis algorithm based on the sensor data and experimentally validated its efficacy. Anemotaxis ref...

  • Article
  • Open Access
3 Citations
1,730 Views
27 Pages

15 August 2024

In recent years, quadcopter-type unmanned aerial vehicles have been preferred in many engineering applications. Because of its nonlinear dynamic model that makes it hard to create optimal control, quadcopter control is one of the main focuses of cont...

  • Proceeding Paper
  • Open Access
1,514 Views
5 Pages

Prediction Error-Based Action Policy Learning for Quadcopter Flight Control

  • Jamal Shams Khanzada,
  • Wasif Muhammad and
  • Muhammad Jehanzeb Irshad

29 December 2021

Quadcopters are finding their place in everything from transportation, delivery, hospitals, and to homes in almost every part of daily life. In places where human intervention for quadcopter flight control is impossible, it becomes necessary to equip...

  • Article
  • Open Access
43 Citations
6,872 Views
21 Pages

Design and Experimental Evaluation of an Odor Sensing Method for a Pocket-Sized Quadcopter

  • Shunsuke Shigaki,
  • Muhamad Rausyan Fikri and
  • Daisuke Kurabayashi

1 November 2018

In this study, we design and verify an intake system using the wake of a pocket-sized quadcopter for the chemical plume tracing (CPT) problem. Solving CPT represents an important technique in the field of engineering because it can be used to perform...

  • Article
  • Open Access
292 Views
15 Pages

Quadcopters are attracting widespread attention due to their growing demand for use in various applications. Since wired communication would severely restrict a quadcopter’s range, maneuverability, and applications, quadcopters usually communic...

  • Proceeding Paper
  • Open Access
1 Citations
578 Views
12 Pages

Robust Backstepping Sliding Mode Control for a Morphing Quadcopter UAV

  • Ibrahim Abdullahi Shehu,
  • Zaharuddeen Haruna,
  • Muhammad Bashir Mu’azu,
  • Muhammad Bashir Abdurrazaq,
  • Norhaliza Bint Abdulwahab and
  • Abubakar Umar

Recently, morphing quadcopters have gained an unprecedented popularity due to their nature of flexibility, self-controlled arm management and diversified application. It has been established that in morphing quadcopter control, aerial morphing genera...

  • Article
  • Open Access
13 Citations
4,432 Views
15 Pages

A Noise Tolerant Spread Spectrum Sound-Based Local Positioning System for Operating a Quadcopter in a Greenhouse

  • Zichen Huang,
  • Lok Wai Jacky Tsay,
  • Tomoo Shiigi,
  • Xunyue Zhao,
  • Hiroaki Nakanishi,
  • Tetsuhito Suzuki,
  • Yuichi Ogawa and
  • Naoshi Kondo

1 April 2020

Quadcopters are beginning to play an important role in precision agriculture. In order to localize and operate the quadcopter automatically in complex agricultural settings, such as a greenhouse, a robust positioning system is needed. In previous res...

  • Feature Paper
  • Article
  • Open Access
15 Citations
3,390 Views
21 Pages

EKF-SLAM for Quadcopter Using Differential Flatness-Based LQR Control

  • Shyam Rauniyar,
  • Sameer Bhalla,
  • Daegyun Choi and
  • Donghoon Kim

24 February 2023

SLAM (Simultaneous Localization And Mapping) in unmanned aerial vehicles can be an advantageous proposition during dangerous missions where aggressive maneuvers are paramount. This paper proposes to achieve it for a quadcopter using a differential fl...

  • Article
  • Open Access
77 Citations
12,123 Views
15 Pages

24 May 2019

Quadcopter unmanned aerial vehicles continue to play important roles in several applications and the improvement of their control performance has been explored in a great number of studies. In this paper, we present an altitude control algorithm for...

  • Article
  • Open Access
1,467 Views
26 Pages

4 September 2025

Advancements in multi-rotor quadcopter technology and sensing capabilities have led to their increased utilisation for last-mile delivery. However, battery capacity constraints limit their use in extended-distance delivery scenarios. A visual servoin...

  • Article
  • Open Access
8 Citations
3,647 Views
14 Pages

Indoor Localization Using Positional Tracking Feature of Stereo Camera on Quadcopter

  • Ahmad Riyad Firdaus,
  • Andreas Hutagalung,
  • Agus Syahputra and
  • Riska Analia

During the maneuvering of most unmanned aerial vehicles (UAVs), the GPS is one of the sensors used for navigation. However, this kind of sensor cannot handle indoor navigation applications well. Using a camera might be the answer to performing indoor...

  • Article
  • Open Access
47 Citations
6,584 Views
12 Pages

11 October 2018

Fault diagnosis (FD) is one of the main roles of fault-tolerant control (FTC) systems. An FD should not only identify the presence of a fault, but also quantify its magnitude and location. In this work, we present a robust fault diagnosis method for...

  • Data Descriptor
  • Open Access
3 Citations
5,186 Views
9 Pages

9 March 2019

This article describes the data acquired from multiple flights of a custom-built quadcopter. The Quadcopter was programmed to fly a pre-defined “Figure-8” flight path, at a constant altitude. The data set includes flights with a varying n...

  • Article
  • Open Access
11 Citations
7,396 Views
14 Pages

Flight Stability Analysis of a Symmetrically-Structured Quadcopter Based on Thrust Data Logger Information

  • Endrowednes Kuantama,
  • Ioan Tarca,
  • Simona Dzitac,
  • Ioan Dzitac and
  • Radu Tarca

19 July 2018

Quadcopter flight stability is achieved when all of the rotors–propellers generate equal thrust in hover and throttle mode. It requires a control system algorithm for rotor speed adjustment, which is related with the translational vector and ro...

  • Article
  • Open Access
10 Citations
7,066 Views
18 Pages

Quadcopter-Based Rapid Response First-Aid Unit with Live Video Monitoring

  • Raffay Rizwan,
  • Muhammad Naeem Shehzad and
  • Muhammad Naeem Awais

15 April 2019

Air transport is the fastest way to reach areas with no direct land routes for ambulances. This paper presents the development of a quadcopter-based rapid response unit in an efficient aerial aid system to eliminate the delay time for first aid suppl...

  • Article
  • Open Access
31 Citations
5,033 Views
18 Pages

The Design and Experimental Development of Air Scanning Using a Sniffer Quadcopter

  • Endrowednes Kuantama,
  • Radu Tarca,
  • Simona Dzitac,
  • Ioan Dzitac,
  • Tiberiu Vesselenyi and
  • Ioan Tarca

6 September 2019

This study presents a detailed analysis of an air monitoring development system using quadcopters. The data collecting method is based on gas dispersion investigation to pinpoint the gas source location and determine the gas concentration level. Due...

  • Article
  • Open Access
5 Citations
2,997 Views
25 Pages

14 June 2024

In this work, an in-depth investigation into enhancing quadcopter autonomy and control capabilities is presented. The focus lies on the development and implementation of three conventional control strategies to regulate the behavior of quadcopter UAV...

  • Article
  • Open Access
35 Citations
14,750 Views
25 Pages

Design and Development of Unibody Quadcopter Structure Using Optimization and Additive Manufacturing Techniques

  • Sagar Nvss,
  • Balasubramanian Esakki,
  • Lung-Jieh Yang,
  • Chandrasekhar Udayagiri and
  • Kameswara Sridhar Vepa

22 January 2022

Quadcopters represent rotary wing configuration of the Unmanned Aerial Vehicles (UAVs) with immense application potential in industrial and strategic contexts. Tradeoff between flight endurance and payload capacity renders design optimization of UAVs...

  • Article
  • Open Access
43 Citations
11,098 Views
31 Pages

Optimization of PID Controller to Stabilize Quadcopter Movements Using Meta-Heuristic Search Algorithms

  • Alaa Sheta,
  • Malik Braik,
  • Dheeraj Reddy Maddi,
  • Ahmed Mahdy,
  • Sultan Aljahdali and
  • Hamza Turabieh

14 July 2021

Quadrotor UAVs are one of the most preferred types of small unmanned aerial vehicles, due to their modest mechanical structure and propulsion precept. However, the complex non-linear dynamic behavior of the Proportional Integral Derivative (PID) cont...

  • Article
  • Open Access
12 Citations
3,098 Views
14 Pages

Synthesized Landing Strategy for Quadcopter to Land Precisely on a Vertically Moving Apron

  • Nguyen Xuan Mung,
  • Ngoc Phi Nguyen,
  • Dinh Ba Pham,
  • Nhu Ngoc Dao and
  • Sung Kyung Hong

17 April 2022

Quadcopter unmanned aerial vehicles have become increasingly popular for various real-world applications, and a significant body of literature exists regarding the improvement of their flight capabilities to render them fully autonomous. The precise...

  • Article
  • Open Access
44 Citations
6,642 Views
22 Pages

23 March 2019

Fault-tolerant control has drawn attention in recent years owning to its reliability and safe flight during missions. In this article, an active fault-tolerant control method is proposed to control a quadcopter in the presence of actuator faults and...

  • Article
  • Open Access
56 Citations
6,850 Views
17 Pages

15 September 2019

Nowadays, quadcopter unmanned aerial vehicles play important roles in several real-world applications and the improvement of their control performance has become an increasingly attractive topic of a great number of studies. In this paper, we present...

  • Proceeding Paper
  • Open Access
1 Citations
1,357 Views
11 Pages

Robustness Analysis of LQR-PID Controller Based on PSO and GWO for Quadcopter Attitude Stabilization

  • Oussama Lahmar,
  • Latifa Abdou,
  • Imam Barket Ghiloubi and
  • Abdelhakim Drid

12 September 2025

The robust control of quadcopters is essential for maintaining stability and performance in dynamic environments. This paper examines the effectiveness of Particle Swarm Optimization (PSO) and Grey Wolf Optimization (GWO) for tuning LQR-PID controlle...

  • Article
  • Open Access
4 Citations
4,290 Views
22 Pages

2 September 2025

The frame of a quadcopter drone is the most important component, as it supports all other systems and plays a vital structural role, supporting the stresses that appear during flight. The objective was to reduce the weight of the frame (18% reduction...

  • Article
  • Open Access
11 Citations
3,228 Views
19 Pages

19 February 2024

The trajectory or moving-target tracking feature is desirable, because it can be used in various applications where the usefulness of UAVs is already proven. Tracking moving targets can also be applied in scenarios of cooperation between mobile groun...

  • Data Descriptor
  • Open Access
1 Citations
2,476 Views
18 Pages

CrazyPAD: A Dataset for Assessing the Impact of Structural Defects on Nano-Quadcopter Performance

  • Kamil Masalimov,
  • Tagir Muslimov,
  • Evgeny Kozlov and
  • Rustem Munasypov

13 June 2024

This article presents a novel dataset focused on structural damage in quadcopters, addressing a significant gap in unmanned aerial vehicle (UAV or drone) research. The dataset is called CrazyPAD (Crazyflie Propeller Anomaly Data) according to the nam...

  • Article
  • Open Access
14 Citations
3,722 Views
21 Pages

Robust Fault Estimation Using the Intermediate Observer: Application to the Quadcopter

  • Ngoc Phi Nguyen,
  • Tuan Tu Huynh,
  • Xuan Phu Do,
  • Nguyen Xuan Mung and
  • Sung Kyung Hong

31 August 2020

In this paper, an actuator fault estimation technique is proposed for quadcopters under uncertainties. In previous studies, matching conditions were required for the observer design, but they were found to be complex for solving linear matrix inequal...

  • Article
  • Open Access
58 Citations
7,670 Views
15 Pages

28 December 2018

In this paper, a fault-tolerant control method is proposed for quadcopter unmanned aerial vehicles (UAV) to account for system uncertainties and actuator faults. A mathematical model of the quadcopter UAV is first introduced when faults occur in actu...

  • Article
  • Open Access
29 Citations
6,457 Views
36 Pages

31 August 2019

This article describes the design, fabrication, and flight test evaluation of a morphing geometry quadcopter capable of changing its intersection angle in-flight. The experiments were conducted at the Aircraft Computational and Resource Aware Fault T...

  • Article
  • Open Access
2 Citations
2,708 Views
24 Pages

18 March 2021

This paper investigates the sensitivity (resistance) of a quadcopter on-board gyroscope system for the observation and tracking of a moving ground target to changing parameters of its regulator under interference conditions. It was shown that the gai...

  • Article
  • Open Access
1 Citations
1,092 Views
38 Pages

Hardware-in-the-Loop Experimental Validation of a Fault-Tolerant Control System for Quadcopter UAV Motor Faults

  • Muhammad Abdullah,
  • Adil Zulfiqar,
  • Muhammad Zeeshan Babar,
  • Jamal Hussain Arman,
  • Ghulam Hafeez,
  • Ahmed S. Alsafran and
  • Muhyaddin Rawa

In this paper, a hybrid fault-tolerant control (FTC) system for quadcopter unmanned aerial vehicles (UAVs) is proposed to counteract the deterioration of the performance of the quadcopter due to motor faults. A robust and adaptive approach to control...

  • Proceeding Paper
  • Open Access
1 Citations
419 Views
7 Pages

8 September 2025

Quadcopter drones have been extensively researched due to their flexibility and suitability for diverse tasks. In this study, a control strategy tailored for scenarios with restricted network bandwidth is developed. An event-triggered control approac...

  • Article
  • Open Access
5 Citations
3,683 Views
37 Pages

29 March 2022

The aim of the present research work is to design a control law for a quadcopter drone based on the Virtual Attractive-Repulsive Potentials (VARP) theory. VARP theory, originally designed to enable path following by a small wheeled robot, will be tai...

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