Research
Research
Research
Research
1,002+ open-access research outputs.
We want a multi-robot team to complete complex tasks in minimum time where the locations of task-relevant objects are not known. Effective task completion requires reasoning over long horizons about t…
This paper investigates the effects of geometric nonlinearity and structural flexibility on the flight dynamics of high-aspect-ratio wings representative of high-altitude long endurance aircraft confi…
Model Reference Adaptive Control based on Lyapunov stability theory is developed for gust load alleviation of nonlinear aeroelastic systems. The controller operates on a nonlinear reduced-order model …
H Infinity robust control synthesis for gust load alleviation of very flexible aircraft is presented. The controller is synthesised on a compact reduced-order model comprising 8 degrees of freedom for…
Identification of worst-case gust loads is a critical step in the certification of very flexible aircraft, yet the computational cost of nonlinear full-order simulations renders exhaustive parametric …
A systematic approach to nonlinear model order reduction (NMOR) of coupled fluid-structureflight dynamics systems of arbitrary fidelity is presented. The technique employs a Taylor series expansion of…
The size of a narrow gap traversable by a fixed-wing drone is limited by its wingspan. Inspired by birds, here, we enable the traversal of a gap of sub-wingspan width and height using a morphing-wing …
Co-design optimisation of autonomous systems has emerged as a powerful alternative to sequential approaches by jointly optimising physical design and control strategies. However, existing frameworks o…
We present FireRedASR2S, a state-of-the-art industrial-grade all-in-one automatic speech recognition (ASR) system. It integrates four modules in a unified pipeline: ASR, Voice Activity Detection (VAD)…
Equipping robotic systems with the capacity to generate $\textit{ex novo}$ hardware during operation extends control of physical adaptability. Unlike modular systems that rely on discrete component in…
Designing aerial robots for specialized tasks, from perching to payload delivery, requires tailoring their aerodynamic shape to specific mission requirements. For tasks involving wide flight envelopes…
Over the last decades, progress in modal analysis has enabled increasingly routine use of modal parameters for applications such as structural health monitoring and finite element model updating. For …
Acceleration-commanded guidance laws (e.g., proportional navigation) are attractive for high-level decision making, but their direct deployment on fixed-wing UAVs is challenging because accelerations …
This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To …
Winged blimps operate across distinct aerodynamic regimes that cannot be adequately captured by a single model. At high speeds and small angles of attack, their dynamics exhibit strong coupling betwee…
This work assesses the hydrodynamic efficiency of Underwater Unmanned Vehicles (UUVs) equipped with soft morphing wings compared to conventional rigid wings. Unlike rigid wings, deformable counterpart…
Vision-Language-Action (VLA) models have recently demonstrated impressive capabilities across various embodied AI tasks. While deploying VLA models on real-world robots imposes strict real-time infere…
Many unmanned aerial vehicles (UAVs) can remain aerodynamically flyable after sustaining structural or control surface damage, yet insufficient robustness in conventional autopilots often leads to mis…
We present a robotics-oriented, coordinate-free formulation of inverse flight dynamics for fixed-wing aircraft on SO(3). Translational force balance is written in the world frame and rotational dynami…
Non-line-of-sight sensing of human activities in complex environments is enabled by multiple-input multiple-output through-the-wall radar (TWR). However, the distinctiveness of micro-Doppler signature…
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