The use of aerial swarms to solve real-world problems has been increasing steadily, accompanied by falling prices and improving performance communication, sensing, processing hardware. commoditization hardware reduced unit costs, thereby lowering the barriers entry field swarm robotics. A key enabling technology for is family algorithms that allow individual members communicate allocate tasks amongst themselves, plan their trajectories, coordinate flight in such a way overall objectives are...

This paper presents a boundary control formulation for distributed parameter systems described by partial differential equations (PDEs) and whose output is given spatial integral of weighted functions the state. directly applicable to small robotic aircraft with articulated flexible wings, where interest net aerodynamic force or moment. The deformation wings can be controlled actuators that are located at root tip wing. problem designing tracking controller wing twist addressed using...

In this paper, we derive an algorithm for enabling a single robotic unmanned aerial vehicle to herd flock of birds away from designated volume space, such as the air space around airport. The herding algorithm, referred m-waypoint is designed using dynamic model bird flocking based on Reynolds' rules. We bounds its performance combination reduced-order modeling flock's motion, heuristics, and rigorous analysis. A unique contribution paper experimental demonstration several facets flocks live...

We describe the design of an aerial robot inspired by birds and underlying theoretical developments leading to novel control closed-loop guidance algorithms for a perching maneuver. A unique feature this is that it uses wing articulation flight path angle as well heading angle. It lacks vertical tail improved agility, which results in unstable lateral-directional dynamics. New motion planning with guaranteed stability are obtained rewriting dynamic equations spatial domain rather than...

This paper presents two families of motion primitives for enabling fast, agile flight through a dense obstacle field. The first family consists time-delay dependent 3D circular path between points in space and the control inputs required to fly path. In particular, are calculated using algebraic equations which depend on parameters location waypoint. Moreover, transition successive maneuver states, where each state is defined by unique combination constant inputs, modeled rigorously as an...

The purpose of this paper is to analyze and discuss the performance stability a tailless micro aerial vehicle with flexible articulated wings.The dihedral angles can be varied symmetrically on both wings control aircraft speed independently angle attack flight-path angle, while an asymmetric setting used yaw in absence vertical tail.A nonlinear aeroelastic model derived, it study steadystate flight vehicle.The concept effective introduced, which allows for unified treatment rigid wing...

The COVID-19 epidemic created, at the time of writing paper, highly unusual and uncertain socio-economic conditions. world economy was severely impacted business-as-usual activities disrupted. situation presented necessity to make a trade-off between individual health safety on one hand progress other. Based current understanding epidemiological characteristics COVID-19, broad set control measures has emerged along dimensions such as restricting people's movements, high-volume testing,...

This paper investigates the flight mechanics of a micro aerial vehicle without vertical tail in an effort to reverse-engineer agility avian flight. The key stability and control such tailless aircraft lies ability incidence angles dihedral both wings independently. can be varied symmetrically on speed independently angle attack path angle, while asymmetric used yaw absence stabilizer. It is shown that wing alone effectively regulate sideslip during rapid turns generate wide range equilibrium...

The problem of herding a flock birds is posed in graph theoretic framework. A novel algorithm, called the n-wavefront Is developed for enabling single unmanned aerial vehicle to herd desired point. technique applied diverting approaching an airport away from protected zone around airport. algorithm demonstrated simulation and compared with existing strategies using graph-based metrics.

The bifurcation and continuation methodology has evolved over the last two decades into a powerful tool for analysis of trim stability problems in aircraft flight dynamics. Over years, methods have been employed to deal with variety dynamics, such as predicting high angle attack behavior, especially spin, studying instabilities rolling maneuvers. served design control systems, is promising be useful design, simulation, testing, evaluation process. In present paper, we describe...

We consider the multi-agent collision avoidance problem for a team of wheeled mobile robots. Recently, local solution to this problem, based on game-theoretic formulation, has been provided and validated via numerical simulations. Due its nature, result is not well-suited online applications. In article, we propose novel hybrid implementation control inputs that yields strategy suited navigation Moreover, subject certain dwell time condition, resulting trajectories are globally convergent....

This paper presents an experimental demonstration of perching by a micro aerial vehicle (MAV) equipped with articulated wings.A novel feature the MAV considered in this is that wing dihedral, controlled independently on both wings, used for yaw stability and control as well maintaining flight path angle.Yaw are essential tightly constrained places.The experiments described were conducted indoors parameters measured using VICON motion capture system.Nomenclature C L , D coefficients lift drag...

A modern class of small fixed-wing unmanned aerial vehicles are physically capable performing exceptional aerobatic maneuvers. This paper presents a methodology for including one the more functional these maneuvers, knife-edge, in motion planning. is achieved by separating top-level planner from dynamics and control knife-edge maneuver. By coupling feedback laws to feedforward policies, system developed conventional trajectory tracking, as well transitioning into holding constant altitude...

This paper addresses the problem of motion planning for fast, agile flight through a dense obstacle field. A key contribution is design two families primitives aerial robots flying in fields, along with rules to stitch them together. The are obtained by solving dynamics robot, and explicitly account limited agility using time delays. first family consists turning maneuvers link any points space. locations terminal used obtain closed-form expressions control inputs required fly between them,...

This paper is concerned with robotic herding of a swarm birds by another adversarial agent, referred to as the pursuer. The objective to prevent from entering specified volume space, such air space around an airport. n-Wavefront algorithm was introduced authors in a prior enable using unmanned aerial vehicle. In this paper, the performance and stability characteristics are analyzed tools linear nonlinear stability theory, aim proving its identifying permissible optimum values...

A control strategy is presented to delay the onset of flutter in a high aspect ratio flexible cantilever wing. The problem posed as one regulating integral twist angle. Using classical analysis, it shown that resulting controller essentially works through stiffness injection torsional dynamics. law implemented on simulated model Pazy wing, using nonlinear computational aeroelastic solver. be effective delaying flutter.

This paper investigates an aerobatic manoeuvre performed by agile fixed-wing unmanned aerial vehicle, with the intent of determining how best can be automated. The is aggressive turn-around: a 180 degree reversal aircraft’s heading, in which space required for completing turn minimized. A comprehensive dynamics model aircraft used to design trajectories off-line using optimal control. methodology evaluating suitability controllers executing also presented.

This paper presents first-principle and numerical studies of flapping flight with the objective optimizing force production propulsive effciency. Strouhal number is identified as a critical parameter affecting all these variables, optimum ranges are calculated. The results calculations, in particular, explain why value range 0.2-0.4 usually preferred by nature's flyers. Next, an attempt made to quantify effects wing flexibility on generation efficiency, it shown that there exists elasticity...

The bifurcation and continuation methodology has evolved over the last two decades into a powerful tool for analysis of trim stability problems in aircraft flight dynamics. Over years, methods have been employed to deal with variety dynamics, such as predicting high angle attack behavior, especially spin, studying instabilities rolling maneuvers. served design control systems, is promising be useful design, simulation, testing, evaluation process. In present paper, we describe...

This paper explores the use of variable wing dihedral and twist (in conjunction with a conventional horizontal elevator) to control an aircraft performing perching maneuver.A choice controller architecture wherein is employed in forward path elevator are feedback path, considered.The modeled as multivariable linear time-varying system.A specific trajectory considered; open-loop longitudinally unstable for segment this lateral-directionally entire trajectory.A designed efficiently stabilize...