Robust adaptive control
Adaptive Control
Adaptive Control
Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles
Control of a Quadrotor Helicopter Using Dual Camera Visual Feedback
International Journal of Robotics Research
Real-time implementation of airborne inertial-SLAM
Robotics and Autonomous Systems
Flying Fast and Low Among Obstacles: Methodology and Experiments
International Journal of Robotics Research
Vision-based terrain following for an unmanned rotorcraft
Journal of Field Robotics
Vision-Based Odometry and SLAM for Medium and High Altitude Flying UAVs
Journal of Intelligent and Robotic Systems
Optic flow-based vision system for autonomous 3D localization and control of small aerial vehicles
Robotics and Autonomous Systems
Adaptive Filtering Prediction and Control
Adaptive Filtering Prediction and Control
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Vision-based guidance and control of a hovering vehicle in unknown, GPS-denied environments
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Fly-inspired visual steering of an ultralight indoor aircraft
IEEE Transactions on Robotics
A Practical Visual Servo Control for an Unmanned Aerial Vehicle
IEEE Transactions on Robotics
Survey of advances in guidance, navigation, and control of unmanned rotorcraft systems
Journal of Field Robotics
Stability Analysis of a Vision-Based UAV Controller
Journal of Intelligent and Robotic Systems
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The design of reliable navigation and control systems for Unmanned Aerial Vehicles (UAVs) based only on visual cues and inertial data has many unsolved challenging problems, ranging from hardware and software development to pure control-theoretical issues. This paper addresses these issues by developing and implementing an adaptive vision-based autopilot for navigation and control of small and mini rotorcraft UAVs. The proposed autopilot includes a Visual Odometer (VO) for navigation in GPS-denied environments and a nonlinear control system for flight control and target tracking. The VO estimates the rotorcraft ego-motion by identifying and tracking visual features in the environment, using a single camera mounted on-board the vehicle. The VO has been augmented by an adaptive mechanism that fuses optic flow and inertial measurements to determine the range and to recover the 3D position and velocity of the vehicle. The adaptive VO pose estimates are then exploited by a nonlinear hierarchical controller for achieving various navigational tasks such as take-off, landing, hovering, trajectory tracking, target tracking, etc. Furthermore, the asymptotic stability of the entire closed-loop system has been established using systems in cascade and adaptive control theories. Experimental flight test data over various ranges of the flight envelope illustrate that the proposed vision-based autopilot performs well and allows a mini rotorcraft UAV to achieve autonomously advanced flight behaviours by using vision.