100 citations · 224 across the 11 of their papers we have counts for
12 papers
Indicators of resilience for autonomous control systems
Jasper van Beers, Da-Hwi Kim, Prashant Solanki +1
As modern societies rely more on autonomous systems to facilitate daily life, assuring their safe operation is paramount. Naturally, there are many techniques available to predict…
Critical slowing down for predicting controller induced loss of control in quadrotors
Jasper J. van Beers, Prashant Solanki, Erik-Jan van Kampen +1
We develop a novel forecasting scheme to anticipate controller induced loss of control (LOC) in quadrotors and evaluate it on real LOC flight data from four different quadrotors. F…
Unifying Hamilton-Jacobi Reachability and Reinforcement Learning
Prashant Solanki, Isabelle El-Hajj, Jasper van Beers +2
We unify Hamilton-Jacobi (HJ) reachability and Reinforcement Learning (RL) through a proposed running cost formulation. We prove that the resultant travel-cost value function is th…
Early warning signals for loss of control
Jasper J. van Beers, Marten Scheffer, Prashant Solanki +3
Maintaining stability in feedback systems, from aircraft and autonomous robots to biological and physiological systems, relies on monitoring their behavior and continuously adjusti…
A novel metric for detecting quadrotor loss-of-control
Jasper van Beers, Prashant Solanki, Coen de Visser
Unmanned aerial vehicles (UAVs) are becoming an integral part of both industry and society. In particular, the quadrotor is now invaluable across a plethora of fields and recent de…
Control of Unknown Quadrotors from a Single Throw
Till M. Blaha, Ewoud J. J. Smeur, Bart D. W. Remes
This paper presents a method to recover quadrotor UAV from a throw, when no control parameters are known before the throw. We leverage the availability of high-frequency rotor spee…
Autonomous Quadrotor Flight despite Rotor Failure with Onboard Vision Sensors: Frames vs. Events
Sihao Sun, Giovanni Cioffi, Coen de Visser +1
Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the…
Probabilistic Flight Envelope Estimation with Application to Unstable Overactuated Aircraft
Mingzhou Yin, Q. P. Chu, Y. Zhang +2
This paper proposes a novel and practical framework for safe flight envelope estimation and protection, in order to prevent loss-of-control-related accidents. Conventional analytic…
Upset Recovery Control for Quadrotors Subjected to a Complete Rotor Failure from Large Initial Disturbances
Sihao Sun, Matthias Baert, Bram Adriaan Strack van Schijndel +1
This study has developed a fault-tolerant controller that is able to recover a quadrotor from arbitrary initial orientations and angular velocities, despite the complete failure of…
Incremental Nonlinear Fault-Tolerant Control of a Quadrotor with Complete Loss of Two Opposing Rotors
Sihao Sun, Xuerui Wang, Qiping Chu +1
In order to further expand the flight envelope of quadrotors under actuator failures, we design a nonlinear sensor-based fault-tolerant controller to stabilize a quadrotor with fai…
On Approximate Dynamic Programming with Multivariate Splines for Adaptive Control
Willem Eerland, Coen de Visser, Erik-Jan van Kampen
We define a SDP framework based on the RLSTD algorithm and multivariate simplex B-splines. We introduce a local forget factor capable of preserving the continuity of the simplex sp…
Behaviour Trees for Evolutionary Robotics
Kirk Y. W. Scheper, Sjoerd Tijmons, Coen C. de Visser +1
Evolutionary Robotics allows robots with limited sensors and processing to tackle complex tasks by means of sensory-motor coordination. In this paper we show the first application…