Vision-based control of near-obstacle flight

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Drones hold promise to assist in civilian tasks. To realize this application, future drones must operate within large cities, covering large distances while navigating within cluttered urban landscapes. The increased efficiency of winged drones over rotary ...

Autonomous navigation of small UAVs is typically based on the integration of inertial navigation systems (INS) together with global navigation satellite systems (GNSS). However, GNSS signals can face various forms of interference affecting their continuous ...

This study aims to identify an optimal, as well as practical, parametric structure for a delta-wing UAV aerodynamic model for the purpose of model-based navigation. We present a comprehensive procedure for characterizing the aerodynamics of this platform, ...

Tightly-coupled sensor orientation, i.e. the simultaneous processing of temporal (GNSS and raw inertial) and spatial (image and lidar) constraints in a common adjustment, has demonstrated significant improvement in the quality of attitude determination wit ...

This work focuses on understanding and identifying the drag forces applied to a rotary-wing Micro Aerial Vehicle (MAV). We propose a lumped drag model that concisely describes the aerodynamical forces the MAV is subject to, with a minimal set of parameters ...

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global N ...

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

Understanding visual complexity of urban environments may improve urban design strategies and limit visual pollution due to advertising, road signage, telecommunication systems and machinery. This paper aims at quantifying visual complexity specifically in ...

Path-following control is a critical technology for autonomous vehicles. However, time-varying parameters, parametric uncertainties, external disturbances, and complicated environments significantly challenge autonomous driving. We propose an iterative rob ...

The use of aerial vehicles for exploration and data collection has the potential to significantly aid environmental monitoring in environments which are dangerous and hard to navigate. However, within these environments navigation can often be restricted b ...

The success of drone missions is incumbent on an accurate determination of the drone pose and velocity, which are collectively estimated by fusing iner- tial measurement unit and global navigation satellite system (GNSS) mea- surements. However, during a G ...

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

Our dataset consists of very high-resolution aerial images (50cm) and a digital elevation model (50cm) that covers approx. 2300 km2 of land above 2000m altitude in the southwestern part of Switzerland. Our land cover labels focus on alpine land cover that ...

This paper proposes a novel method to improve georeferencing of airborne laser scanning by improved trajectory estimation using Vehicle Dynamic Model. In Vehicle Dynamic Model (VDM), the relationship between the dynamics of the platform and control inputs ...

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

To aid humans in civilian tasks, future drones will have to operate in large cities that abound with difficult flight conditions such as confined spaces, obstacles, and turbulent air. Such drones must cruise efficiently to cover vast distances fast and als ...

Many species aggregate in dense colonies. Species-specific spatial patterns provide clues about how colonies are shaped by various (a)biotic factors, including predation, temperature regulation or disease transmission. Using aerial imagery, we examined the ...

Inertial measurement unit (IMU) sensors are widely used for motion analysis in sports and rehabilitation. The attachment of IMU sensors to predefined body segments and sides (left/right) is complex, time-consuming, and error-prone. Methods for solving the ...

This thesis presents an efficient and extensible numerical software framework for real-time model-based control. We are motivated by complex and challenging mechatronic applications spanning from flight control of fixed-wing aircraft and thrust vector cont ...

Vision-based control of near-obstacle flight

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Accurate and agile flight with winged drones

VDM-based navigation for Delta-wing UAVs: Models, calibration, implementation

Aerodynamic modeling of a delta-wing UAV for model-based navigation

Airborne sensor fusion: Expected accuracy and behavior of a concurrent adjustment

Lumped Drag Model Identification and Real-Time External Force Detection for Rotary-Wing Micro Aerial Vehicles

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

VDMNav: Software Architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Visual complexity of urban streetscapes: human vs computer vision

Less Conservatism, Stronger Robustness: Iterative Robust Gain-Scheduled Path Following Control of Autonomous Bus With Unstructured and Changing Dynamics

Heading for the Abyss: Control Strategies for Exploiting Swinging of a Descending Tethered Aerial Robot

Identifying aerodynamics of small fixed-wing drones using inertial measurements for model-based navigation

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

swissALPS: a Dataset for Imbalanced Land Cover Mapping in Alpine Regions

Model-based constraints for trajectory determination of quad-copters: Design, calibration & merits for direct orientation

Training Efficient Controllers via Analytic Policy Gradient

Wing and tail morphing in birds and drones

Stay close, but not too close: aerial image analysis reveals patterns of social distancing in seal colonies

Automatic Body Segment and Side Recognition of an Inertial Measurement Unit Sensor during Gait

Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems