This paper presents vehicle models and test flight results for an autonomous fixed-wing airplane that is designed to take-off, hover, transition to and from level-flight modes, and perch on a vertical landing platform in ...

This paper presents an extension of existing cooperative control algorithms that have been developed for multi-UAV applications to utilize real-time observations and/or performance metric(s) in conjunction with learning ...

Approximate Dynamic Inversion has been established as a method to control minimum-phase, nonaffine-in-control systems [1]. In this report, we re-state the main results of [1], clarify some minor notational errors, and prove ...

This paper presents a real-time path planning algorithm which can guarantee probabilistic feasibility for autonomous robots subject to process noise and an uncertain environment, including dynamic obstacles with uncertain ...

Real-world dynamical variations make adaptive control of time-varying systems highly relevant. However, most adaptive control literature focuses on analyzing systems where the uncertainty is represented as a weighted linear ...

This paper considers the path planning problem for an autonomous vehicle in an urban environment populated with static obstacles and moving vehicles with uncertain intents. We propose a novel threat assessment module, ...