3D Path Planning for UAVs in Dynamic Environments in the Presence of Uncertainties

Unmanned Aerial Vehicles (UAVs) are being integrated into all spheres of life, for a wide range of application in civil, commercial and military applications in both indoor and outdoor environments. UAV onboard intelligence is a paramount requirement in the realisation of UAV Traffic Management System (UTM) and Air Traffic Management (ATM)...

Robust nonlinear attitude control of aerospace vehicles: An incremental nonlinear control approach

Dynamics modeling, simulation, and control have been studied extensively for many applications in robotics, aeronautics, underwater vehicles, and aerospace vehicles (spacecraft, launchers, re-entry vehicles). In that context, this thesis is motivated from two research directions; namely, space launchers guidance and control (G&C) for...

Incremental sliding mode flight control

The swift growth of air traffic volume stresses the importance of flight safety enhancement. Statistical data shows that fly-by-wire technology with automatic flight control systems can effectively reduce the fatal accident rate of loss of control in-flight. Although the dynamics of an aircraft are nonlinear and time-varying, it is common...

Safe Online Robust Exploration for Reinforcement Learning Control of Unmanned Aerial Vehicles

Autonomous Conflict Detection and Resolution for Unmanned Aerial Vehicles: On integration into the Airspace System

In the last decade, the commercial values of Unmanned Aerial Vehicles (UAV), defined as devices that are capable of sustainable flights in the atmosphere that do not require to have a human (pilot) on-board, become widely recognized thanks to the advancement of technology in materials, sensors, computation, and telemetry. As UAVs are becoming...