Gust Disturbance Alleviation with Incremental Nonlinear Dynamic Inversion

Micro Aerial Vehicles (MAVs) are limited in their operation outdoors near obstacles by their ability to withstand wind gusts. Currently widespread position control methods such as Proportional Integral Derivative control do not perform well under the influence of gusts. Incremental Nonlinear Dynamic Inversion (INDI) is a sensor-based control...

Ecological Interface for Collaboration of Multiple UAVs in Remote Areas

Unmanned Aerial Vehicles (UAVs) can be used to access remote areas, e.g., for surveillance missions. Collaboration between them can help overcome communication constraints by building airborne relay networks that allow beyond line of sight communication. This research investigates whether a single human operator can supervise multiple UAVs in a...