9 papers
Towards Robust Optimization-Based Autonomous Dynamic Soaring with a Fixed-Wing UAV
Marvin Harms, Jaeyoung Lim, David Rohr +3
Dynamic soaring is a flying technique to exploit the energy available in wind shear layers, enabling potentially unlimited flight without the need for internal energy sources. We p…
Towards Open-Source and Modular Space Systems with ATMOS
Pedro Roque, Sujet Phodapol, Elias Krantz +11
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large struct…
Safe Periodic Trochoidal Paths for Fixed-Wing UAVs in Confined Windy Environments
Jaeyoung Lim, David Rohr, Thomas Stastny +1
Due to their energy-efficient flight characteristics, fixed-wing type UAVs are useful robotic tools for long-range and duration flight applications in large-scale environments. How…
Geometric Tracking Control of Omnidirectional Multirotors for Aggressive Maneuvers
Hyungyu Lee, Sheng Cheng, Zhuohuan Wu +3
An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverab…
Energy-Optimized Planning in Non-Uniform Wind Fields with Fixed-Wing Aerial Vehicles
Yufei Duan, Florian Achermann, Jaeyoung Lim +1
Fixed-wing small uncrewed aerial vehicles (sUAVs) possess the capability to remain airborne for extended durations and traverse vast distances. However, their operation is suscepti…
A robust baro-radar-inertial odometry m-estimator for multicopter navigation in cities and forests
Rik Girod, Marco Hauswirth, Patrick Pfreundschuh +2
Search and rescue operations require mobile robots to navigate unstructured indoor and outdoor environments. In particular, actively stabilized multirotor drones need precise movem…