document

Multivariate spline-based adaptive control of high-performance aircraft with aerodynamic uncertainties

Tol, H.J. (author), de Visser, C.C. (author), Sun, LG (author), van Kampen, E. (author), Chu, Q. P. (author)

In this paper, a new modular adaptive control system is presented to compensate for aerodynamic uncertainties in high-performance flight control systems. This approach combines nonlinear dynamic inversion with multivariate spline-based adaptive control allocation. A new real-time identification routine for multivariate splines is presented to...

journal article 2016

document

A novel approach with safety metrics for real-time exploration of uncertain environments

Mannucci, T. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

conference paper 2016

document

Graph based dynamic policy for UAV navigation

Mannucci, T. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

conference paper 2016

document

Safety assessment of unmanned aerial vehicle operations in an integrated airspace

Jenie, Y.I. (author), van Kampen, E. (author), Ellerbroek, Joost (author), Hoekstra, J.M. (author)

conference paper 2016

document

Adaptive three-step Kalman filter for air data sensor fault detection and diagnosis

Lu, P. (author), van Eykeren, L. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

journal article 2016

document

Nonlinear adaptive flight control using incremental approximate dynamic programming and output feedback

Zhou, Y. (author), van Kampen, E. (author), Chu, Q. P. (author)

conference paper 2016

document

Efficient methods for flight envelope estimation through reachability analysis

Stapel, J (author), de Visser, C.C. (author), van Kampen, E. (author), Chu, Q. P. (author)

conference paper 2016

document

Self-tuning gains of a quadrotor using a simple model for policy gradient reinforcement learning

Junell, J. (author), Mannucci, T. (author), Zhou, Y. (author), van Kampen, E. (author)

conference paper 2016

document

Adaptive Path Planning for a Vision-Based quadrotor in an Obstacle Field: Beijing, China

Junell, J. (author), van Kampen, E. (author)

This paper demonstrates a real life approach for quadrotor obstacle avoidance in indoor flight. A color-based vision approach for obstacle detection is used to good effect conjointly with an adaptive path planning algorithm. The presented task is to move about a set indoor space while avoiding randomly located obstacles and adapting a path to...

conference paper 2016

document

System Identification using the Multivariate Simplotope B-Spline

Visser, T. (author), de Visser, C.C. (author), van Kampen, E. (author)

In recent research efforts the multivariate simplex spline has shown great promise in system identification applications. It has high approximation power, while its linearity in the parameters allows for computationally efficient estimation of the coefficients. In this paper the multivariate simplotope spline is derived from this spline, and...

conference paper 2016

document

Autonomous Navigation in Partially Observable Environments Using Hierarchical Q-Learning

Zhou, Y. (author), van Kampen, E. (author), Chu, Q. P. (author)

Flapping-wing MAVs represent an attractive alternative to conventional designs with rotary wings, since they promise a much higher efficiency in forward flight. However, further insight into the flapping-wing aerodynamics is still needed to get closer to the flight performance observed in natural fliers. Here we present the first step necessary...

conference paper 2016

document

Distance Fields Over Grids Method for Aircraft Envelope Determination

Helsen, R (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

In this research, the concept of posing the flight envelope as a reachable set is ex- plored further and it is investigated whether the "Distance Fields Over Grids (DFOG)" method for reachability computations is a viable method for envelope determination. The DFOG method approximates the reachable set of a dynamic system by solving a number of...

journal article 2016

document

Framework for state and unknown input estimation of linear time-varying systems

Lu, P. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

The design of unknown-input decoupled observers and lters requires the assumption of an existence condition in the literature.This paper addresses an unknown input ltering problem where the existence condition is not satised. Instead of designing a traditional unknown input decoupled lter, a Double-Model Adaptive Estimation approach is extended...

journal article 2016

document

Reinforcement Learning based Algorithm with Safety Handling and Risk Perception

Shyamsundar, S. (author), Mannucci, T. (author), van Kampen, E. (author)

Navigation in an unknown or uncertain environment is a challenging task for an autonomous agent. The agent is expected to behave independently and to learn the suitable action to take for a given situation. Reinforcement Learning could be used to help the agent adapt to an unknown environment and learn the right actions to take. This paper...

conference paper 2016

document

A Hierarchical Maze Navigation Algorithm with Reinforcement Learning and Mapping

Mannucci, T. (author), van Kampen, E. (author)

Goal-finding in an unknown maze is a challenging problem for a Reinforcement Learning agent, because the corresponding state space can be large if not intractable, and the agent does not usually have a model of the environment. Hierarchical Reinforcement Learning has been shown in the past to improve tractability and learning time of complex...

conference paper 2016

document

Aircraft Fault-Tolerant Trajectory Control Using Incremental Nonlinear Dynamic Inversion

Lu, P. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

This paper deals with aircraft trajectory control in the presence of model uncertainties and actuator faults. Existing approaches, such as adaptive backstepping and nonlinear dynamic inversion with online model identi_cation, can be applied. However, since there are a number of unknown aerodynamic derivatives, the tuning of parameter update law...

journal article 2016

document

Three-Dimensional Velocity Obstacle Method for Uncoordinated Avoidance Maneuvers of Unmanned Aerial Vehicles

Jenie, Y.I. (author), van Kampen, E. (author), de Visser, C.C. (author), Ellerbroek, Joost (author), Hoekstra, J.M. (author)

This paper proposes a novel avoidance method called the three-dimensional velocity obstacle method. The method is designed for unmanned aerial vehicle applications, in particular to autonomously handle uncoordinated multiple encounters in an integrated airspace, by exploiting the limited space in a three-dimensional manner. The method is a three...

journal article 2016

document

Taxonomy of Conflict Detection and Resolution Approaches for Unmanned Aerial Vehicle in an Integrated Airspace

Jenie, Y.I. (author), van Kampen, E. (author), Ellerbroek, Joost (author), Hoekstra, J.M. (author)

This paper proposes a taxonomy of Conflict Detection and Resolution (CD&R) approaches for Unmanned Aerial Vehicles (UAV) operation in an integrated airspace. Possible approaches for UAVs are surveyed and broken down based on their types of surveillance, coordination, maneuver, and autonomy. The factors are combined back selectively, with...

journal article 2016

document

Nonlinear aircraft sensor fault reconstruction in the presence of disturbances validated by real flight data

Lu, P. (author), van Kampen, E. (author), de Visser, C.C. (author), Chu, Q. P. (author)

journal article 2016

document

Three-dimensional velocity obstacle method for UAV uncoordinated avoidance maneuver

Jenie, Y.I. (author), van Kampen, E. (author), de Visser, C.C. (author), Ellerbroek, Joost (author), Hoekstra, J.M. (author)

conference paper 2016