☆ 3.8 Proceedings Paper

Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure

2022 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2022)

ALFA: A dataset for UAV fault and anomaly detection

Azarakhsh Keipour et al.

Summary: This paper introduces a dataset of fault types in control surfaces of a fixed-wing UAV for research in fault detection, isolation, and anomaly detection. The dataset contains processed flight data with various fault scenarios, as well as raw data and helper tools for evaluation. A set of metrics is proposed to compare different methods using the dataset, aiming to advance research in AD or FDI for autonomous aerial vehicles and mobile robots.

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH (2021)

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Article Engineering, Aerospace

MPC Flight Control for a Tilt-Rotor VTOL Aircraft

Leonard Bauersfeld et al.

Summary: This article introduces a novel application of a model predictive control (MPC) controller for a hybrid tilt-quadrotor fixed-wing aircraft, providing a unified nonlinear control approach valid in all flight modes and transitions. The MPC controller and control allocation algorithm show superior performance in simulations and real-world outdoor experiments compared to traditional control strategies.

IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS (2021)

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Proceedings Paper Automation & Control Systems

Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments

Shibo Zhao et al.

Summary: The proposed Super Odometry framework integrates multiple sensors such as LiDAR, camera, and IMU to achieve robust state estimation. With an IMU-centric approach, it combines the benefits of different sensor fusion methods and recovers motion in a coarse-to-fine manner. Through IMU odometry, Visual-inertial odometry, and LiDAR-inertial odometry, the system ensures high-performance state estimation in real-time applications.

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2021)

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Article Robotics

A Novel Robust Hexarotor Capable of Static Hovering in Presence of Propeller Failure

Elgiz Baskaya et al.

Summary: This letter introduces a novel Y-shaped hexarotor UAV design, and demonstrates its robustness to propeller failure through both theory and real experiments. An intuitive geometrical interpretation of UAV hovering ability is provided, analyzing the robustness of different designs, followed by experimental testing and conclusions on the efficiency and advantages/disadvantages of the Y-shaped and Star-shaped hexarotors.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

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Article Engineering, Aerospace