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cs.RO2026
Impact-Aware Model Predictive Control for UAV Landing on a Heaving Platform
Jess Stephenson, Melissa Greeff
Landing UAVs on heaving marine platforms is challenging because relative vertical motion can generate large impact forces and cause rebound on touchdown. To address this, we develo…
cs.RO2024
A Time and Place to Land: Online Learning-Based Distributed MPC for Multirotor Landing on Surface Vessel in Waves
Jess Stephenson, William S. Stewart, Melissa Greeff
Landing a multirotor unmanned aerial vehicle (UAV) on an uncrewed surface vessel (USV) extends the operational range and offers recharging capabilities for maritime and limnology a…
cs.RO2024
Distributed Model Predictive Control for Cooperative Multirotor Landing on Uncrewed Surface Vessel in Waves
Jess Stephenson, Nathan T. Duncan, Melissa Greeff
Heterogeneous autonomous robot teams consisting of multirotor and uncrewed surface vessels (USVs) have the potential to enable various maritime applications, including advanced sea…