Research
Research
Research
Research
824+ open-access research outputs.
This paper addresses the problem of traffic congestion management in fixed-wing unmanned aerial vehicle (UAV) corridors by further developing a recently introduced loiter-lane framework. A semi-cooper…
Ensuring safety for black-box hybrid dynamical systems presents significant challenges due to their instantaneous state jumps and unknown explicit nonlinear dynamics. Existing solutions for strict saf…
Sub-gram flapping-wing flying insect robots (FIRs) are challenging to model because of mechanical complexity in their wings, unsteady aerodynamic flow, and the difficulty of making precise measurement…
Autonomous fixed-wing flight is becoming a key capability in aerial robotics, enabling sensing, mobility, and contingency operations across both small-scale Uncrewed Aircraft Systems and large-scale A…
Aerobat is a bat-inspired flapping-wing robot with a wing gait generate by the computational structure, a planar linkage of carbon fiber links driven by a single motor. This design minimizes weight bu…
We consider the energy-optimal control problem for double-integrator systems subject to state and control constraints, with fixed terminal time and free terminal speed. When the constraints become act…
Spatial single-loop mechanisms such as Bennett linkages offer a unique combination of one-degree-of-freedom actuation and nontrivial spatial trajectories, making them attractive for lightweight bio-in…
In rotary-wing aircraft, rotating blades are exposed to collisions and subsequent damage. The detection and isolation of blade damage constitute the first step in fault mitigation; however, they are p…
Experimental access to real honeybee colonies requires robotic systems capable of operating within limited spatial constraints, tolerating hive-specific fouling and environmental conditions, and suppo…
This paper presents a reinforcement learning-based path-following controller for a fixed-wing small uncrewed aircraft system (sUAS) that is robust to certain actuator failures. The controller is condi…
In this paper, we present a generalized, comprehensive nonlinear mathematical model and conceptual design for the MetaMorpher, a metamorphic Unmanned Aerial Vehicle (UAV) designed to bridge the gap be…
We propose the Polytopic Receding-Horizon Policy Gradient (P-RHPG) algorithm for synthesizing Parallel Distributed Compensation (PDC) controllers via Tensor Product (TP) model transformation. Standard…
This work presents a hybrid physics-informed and data-driven modeling framework for predictive control of autonomous off-road vehicles operating on deformable terrain. Traditional high-fidelity terram…
Mechanical vibration monitoring often requires high sampling rates and generates large data volumes, posing challenges for storage, transmission, and power efficiency. Compressive Sensing (CS) offers …
Multiple fixed-wing unmanned aerial vehicles (multi-UAVs) encounter significant challenges in cooperative path following over complex Digital Elevation Model (DEM) low-altitude airspace, including win…
Extracellular DNA accumulation in recirculating bioprocesses inhibits microbial growth and reduces productivity. We consider a continuous bioreactor with a recirculating loop and an electrophoretic fi…
A complete, self-contained mathematical framework for modelling the coupled aeroelastic and flight dynamic behaviour of free-flying flexible aircraft subject to atmospheric gust encounters is presente…
We propose a fully data-driven, Koopman-based framework for statistically robust control of discrete-time nonlinear systems with linear embeddings. Establishing a connection between the Koopman operat…
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…
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