Publications associées à Commandes de vol (avion)

Accurate and agile flight with winged drones

Drones hold promise to assist in civilian tasks. To realize this application, future drones must operate within large cities, covering large distances while navigating within cluttered urban landscapes. The increased efficiency of winged drones over rotary ...

EPFL2024

Wing and tail morphing in birds and drones

Enrico Ajanic

To aid humans in civilian tasks, future drones will have to operate in large cities that abound with difficult flight conditions such as confined spaces, obstacles, and turbulent air. Such drones must cruise efficiently to cover vast distances fast and als ...

EPFL2023

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Alexander Gehrke

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

EPFL2023

Training Efficient Controllers via Analytic Policy Gradient

Dario Floreano, Valentin Wüest, Davide Scaramuzza

Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...

New York2023

Real-Time Nonlinear Model Predictive Control for Fast Mechatronic Systems

Petr Listov

This thesis presents an efficient and extensible numerical software framework for real-time model-based control. We are motivated by complex and challenging mechatronic applications spanning from flight control of fixed-wing aircraft and thrust vector cont ...

EPFL2022

Sharp turning maneuvers with avian-inspired wing and tail morphing

Dario Floreano, Valentin Wüest, Enrico Ajanic, Mir Alikhan Bin Mohammad Feroskhan

Flight in dense environments, such as forests and cities requires drones to perform sharp turns. Although fixed-wing drones are aerodynamically and energetically more efficient than multicopters, they require a comparatively larger area to turn and thus ar ...

2022

Large-eddy Simulation of a Wind-turbine Array subjected to Active Yaw Control

Fernando Porté Agel, Mou Lin

Dataset of the paper "Large-eddy Simulation of a Wind-turbine Array subjected to Active Yaw Control" published on Wind Energy Science [1]. [1] Lin, M., & Porté-Agel, F. (2022). Large-eddy Simulation of a Wind-turbine Array subjected to Active Yaw Control. ...

Zenodo2022

Large-eddy simulation of a wind-turbine array subjected to active yaw control

Fernando Porté Agel, Mou Lin

This study validates large-eddy simulation (LES) for predicting the flow through a wind turbine array subjected to active yaw control. The wind turbine array consists of three miniature wind turbines operated in both non-yawed and yawed configurations unde ...

2022

Effect of the mineralogical composition on the elastoplastic hydromechanical response of Opalinus Clay shale

Lyesse Laloui, Alessio Ferrari, Eleonora Crisci

Opalinus Clay is the shale currently under investigation as the host formation for geological radioactive waste disposal in Switzerland. Its hydromechanical response has been widely studied, and the experimental results show a range of values whose dispers ...

2021

Experimental investigation and analytical modelling of active yaw control for wind farm power optimization

Fernando Porté Agel, Haohua Zong

In this study, the physics and effectiveness of active yaw control under various wind conditions are investigated systematically, based on wind tunnel experiments and a new analytical wind farm model. The power and wake velocity measurements of a three-row ...

Pergamon-Elsevier Science Ltd2021

Power Maximization and Fatigue-Load Mitigation in a Wind-turbine Array by Active Yaw Control: an LES Study

Fernando Porté Agel, Mou Lin

In this study, we perform a multi-objective parametric study for an array of three miniature wind turbines subjected to active yaw control (AYC), with the objectives of maximizing the power and minimizing the fatigue loads. Using the time series extracted ...

2020

The Foldable Drone: A Morphing Quadrotor That Can Squeeze and Fly

Dario Floreano, Stefano Mintchev, Davide Scaramuzza

The recent advances in state estimation, perception, and navigation algorithms have significantly contributed to the ubiquitous use of quadrotors for inspection, mapping, and aerial imaging. To further increase the versatility of quadrotors, recent works i ...

2019

Teleoperation with a wearable sensor system

David Atienza Alonso, Dario Floreano, Silvestro Micera, Stefano Mintchev, Jenifer Cléa Miehlbradt, Fiorenzo Artoni, Martina Coscia, Fabio Isidoro Tiberio Dell'Agnola, Alexandre Thierry Cherpillod

A method for remotely controlling an operated unmanned object, comprises defining of a set of control movements of an operator; selecting of minimal necessary signals to reliably acquire the operator's control movements; defining of a mapping of the contro ...

2019

Two-degrees-of-freedom (PID)-D-2 controller for precise nanopositioning in the presence of hardware-induced constant time delay

Andres San Millan Rodriguez

The fast and accurate tracking of periodic and arbitrary reference trajectories is the principal goal in many nanopositioning applications. Flexure-based piezoelectric stack driven nanopositioners are widely employed in applications where accurate mechanic ...

ELSEVIER SCIENCE INC2019

Insect-Inspired Visual Perception for Flight Control and Collision Avoidance

Julien Jean Denis Nicolas Lecoeur

Flying robots are increasingly used for tasks such as aerial mapping, fast exploration, video footage and monitoring of buildings. Autonomous flight at low altitude in cluttered and unknown environments is an active research topic because it poses challen ...

EPFL2019

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

Dario Floreano, Auke Ijspeert, Stefano Mintchev, Amy Roning Wu, Carine Rognon

Haptic guidance has been shown to improve performance in many fields as it can give additional information without overloading other sensory channels such as vision or audition. Our group is investigating new intuitive ways to interact with robots, and we ...

2018

Haptic Guidance with a Soft Exoskeleton Reduces Error in Drone Teleoperation

Dario Floreano, Auke Ijspeert, Stefano Mintchev, Amy Roning Wu, Carine Rognon

Haptic guidance has been shown to improve performance in many fields as it can give additional information without overloading other sensory channels such as vision or audition. Our group is investigating new intuitive ways to interact with robots, and we ...

SPRINGER INTERNATIONAL PUBLISHING AG2018

Bioinspired dual-stiffness origami

Dario Floreano, Stefano Mintchev, Jun Shintake

Origami manufacturing has led to considerable advances in the field of foldable structures with innovative applications in robotics, aerospace, and metamaterials. However, existing origami are either load-bearing structures that are prone to tear and fail ...

2018

Insect-Inspired Mechanical Resilience for Multicopters

Dario Floreano, Stefano Mintchev, Sébastien Douglas de Rivaz

The ease of use and versatility of drones has contributed to their deployment in several fields, from entertainment to search and rescue. However, drones remain vulnerable to collisions due to pilot mistakes or various system failures. This paper presents ...

Ieee-Inst Electrical Electronics Engineers Inc2017

Distributed Deconfliction Algorithm for Unmanned Aerial Vehicles with Limited Range and Field of View Sensors

Denis Gillet, Alcherio Martinoli, Steven Adriaan Roelofsen

This paper proposes a novel approach for collision avoidance between Unmanned Aerial Vehicles (UAVs) with limited range and field of view sensors. The algorithm is designed for unicycle vehicles that need to fly above a specific minimal speed to maintain f ...

2015