Robust Flight

Robust flight research aims to develop aerial vehicles capable of stable and reliable operation in challenging, dynamic environments. Current efforts focus on improving control algorithms, such as adapting PID controllers with reinforcement learning or employing model predictive control, and developing innovative vehicle designs, including modular, self-reconfiguring robots and bio-inspired systems like gliding blimps with articulated appendages. These advancements enhance safety, efficiency, and maneuverability, impacting fields like autonomous navigation, aerial robotics, and the development of more resilient unmanned aerial vehicles.

Papers

November 18, 2024

Conjugate Momentum-Based Estimation of External Forces for Bio-Inspired Morphing Wing Flight
Bibek Gupta, Eric Sihite, Alireza Ramezani
Estimation Task Bio Inspired External Human Force Force Estimation Flapping Wing Morphing Wing Robust Flight

November 6, 2024

Open-Source High-Speed Flight Surrogate Modeling Framework
Tyler E. Korenyi-Both, Nathan J. Falkiewicz, Matthew C. Jones
Surrogate Model Flight Data Robust Flight

June 16, 2024

RGBlimp-Q: Robotic Gliding Blimp With Moving Mass Control Based on a Bird-Inspired Continuum Arm
Hao Cheng, Feitian Zhang
Single RGB Image Robust Flight Cable Driven Continuum Robotic Blimp Indoor Blimp

April 14, 2024

BEATLE -- Self-Reconfigurable Aerial Robot: Design, Control and Experimental Validation
Junichiro Sugihara, Moju Zhao, Takuzumi Nishio, Kei Okada, Masayuki Inaba
Product Design External Control Experimental Validation Reconfigurable Robot Robust Flight Cube Reconfiguration

March 30, 2024

AirPilot: Interpretable PPO-based DRL Auto-Tuned Nonlinear PID Drone Controller for Robust Autonomous Flights
Junyang Zhang, Cristian Emanuel Ocampo Rivera, Kyle Tyni, Steven Nguyen, Ulices Santa Cruz Leal, Yasser Shoukry
Deep Reinforcement Learning Single Drone Flight Control Drone Control Robust Flight

March 19, 2024

PE-Planner: A Performance-Enhanced Quadrotor Motion Planner for Autonomous Flight in Complex and Dynamic Environments
Jiaxin Qiu, Qingchen Liu, Jiahu Qin, Dewang Cheng, Yawei Tian, Qichao Ma
Dynamic Environment Complexity Level Visual Planner Quadrotor Dynamic Autonomous Flight Robust Flight Quadrotor Motion Planning

December 27, 2023

An Integrated Imitation and Reinforcement Learning Methodology for Robust Agile Aircraft Control with Limited Pilot Demonstration Data
Gulay Goktas Sever, Umut Demir, Abdullah Sadik Satir, Mustafa Cagatay Sahin, Nazim Kemal Ure
Reinforcement Learning Pilot Study State of the Art Imitation Robust Flight

November 21, 2023

A Safer Vision-based Autonomous Planning System for Quadrotor UAVs with Dynamic Obstacle Trajectory Prediction and Its Application with LLMs
Jiageng Zhong, Ming Li, Yinliang Chen, Zihang Wei, Fan Yang, Haoran Shen
Large Language Model SAfER Instruct Robust Flight Autonomous Planning Obstacle Trajectory

October 19, 2023

From Propeller Damage Estimation and Adaptation to Fault Tolerant Control: Enhancing Quadrotor Resilience
Jeffrey Mao, Jennifer Yeom, Suraj Nair, Giuseppe Loianno
Adaptation Concern Aerial Robot Fault Tolerant Control Propeller Based Robust Flight

August 1, 2023

AOSoar: Autonomous Orographic Soaring of a Micro Air Vehicle
Sunyou Hwang, Bart D. W. Remes, Guido C. H. E. de Croon
Aerial Vehicle Micro Aerial Vehicle Autonomous Flight Robust Flight Free Flight

May 26, 2023

Learning Interpretable Models of Aircraft Handling Behaviour by Reinforcement Learning from Human Feedback
Tom Bewley, Jonathan Lawry, Arthur Richards
Reinforcement Learning Human Feedback Interpretable Model Preference Feedback Robust Flight Reward Tree

May 23, 2023

Autonomous Control for Orographic Soaring of Fixed-Wing UAVs
Tom Suys, Sunyou Hwang, Guido C. H. E. de Croon, Bart D. W. Remes
Unmanned Aerial Vehicle Various Fast Moving Drone Autonomous Control Model Gradient Fixed Wing Robust Flight Position Control

May 5, 2023

Local Gaussian Modifiers (LGMs): UAV dynamic trajectory generation for onboard computation
Miguel Fernandez-Cortizas, David Perez-Saura, Javier Rodriguez-Vazquez, Pascual Campoy
Unmanned Aerial Vehicle Optimal Trajectory Trajectory Generation Trajectory Refinement Agile Flight Robust Flight

May 4, 2023

Guidance & Control Networks for Time-Optimal Quadcopter Flight
Sebastien Origer, Christophe De Wagter, Robin Ferede, Guido C. H. E. de Croon, Dario Izzo
Human Guidance Autonomous Flight Network Control Robust Flight Time Optimal Flight

May 12, 2022

Bang-Bang Control Of A Tail-less Morphing Wing Flight
Eric Sihite, Xintao Hu, Bozhen Li, Adarsh Salagame, Paul Ghanem, Alireza Ramezani
Morphing Wing Robust Flight Wing Robot

Robust Flight

Papers

Conjugate Momentum-Based Estimation of External Forces for Bio-Inspired Morphing Wing Flight

Open-Source High-Speed Flight Surrogate Modeling Framework

RGBlimp-Q: Robotic Gliding Blimp With Moving Mass Control Based on a Bird-Inspired Continuum Arm

BEATLE -- Self-Reconfigurable Aerial Robot: Design, Control and Experimental Validation

AirPilot: Interpretable PPO-based DRL Auto-Tuned Nonlinear PID Drone Controller for Robust Autonomous Flights

PE-Planner: A Performance-Enhanced Quadrotor Motion Planner for Autonomous Flight in Complex and Dynamic Environments

An Integrated Imitation and Reinforcement Learning Methodology for Robust Agile Aircraft Control with Limited Pilot Demonstration Data

A Safer Vision-based Autonomous Planning System for Quadrotor UAVs with Dynamic Obstacle Trajectory Prediction and Its Application with LLMs

From Propeller Damage Estimation and Adaptation to Fault Tolerant Control: Enhancing Quadrotor Resilience

AOSoar: Autonomous Orographic Soaring of a Micro Air Vehicle

Learning Interpretable Models of Aircraft Handling Behaviour by Reinforcement Learning from Human Feedback

Autonomous Control for Orographic Soaring of Fixed-Wing UAVs

Local Gaussian Modifiers (LGMs): UAV dynamic trajectory generation for onboard computation

Guidance & Control Networks for Time-Optimal Quadcopter Flight

Bang-Bang Control Of A Tail-less Morphing Wing Flight