Control barrier functions have been widely studied and applied to safety-critical systems,
including multi-agent obstacle avoidance problems. In this work, we apply control barrier …

A novel formation control to transport a cable-suspended payload with two quadrotors is
presented. The control structure is based on a layered scheme combining a kinematic null …

Quadrotor Unmanned Aerial Vehicles (UAVs) are generally underactuated systems and
when load is attached for transportation purposes, the system complexity increases …

This paper considers the cooperative transport problem of a cable-suspended rigid bar with
two rotorcraft UAVs considering collision avoidance, weight distribution, and wind …

Featured Application Supply delivery tasks are commonly present in hostile regions of
natural disasters, in military operations, and in agricultural and urban environments. In this …

Piracy and armed robbery at sea remain critical threats to maritime security, emphasizing the
need for effective escort strategies for merchant ships. While manned escort operations are …

Trajectory planning for a multihelicopter transportation system requires optimizing numerous
variables while considering obstacle avoidance, formation shape change, multibody …

Quadrotor Unmanned Aerial Vehicles (UAVs) are highly nonlinear and underactuated in
nature as they possess fewer control inputs than control variables. A combination multiple …

Interest in multilift rotorcraft systems has reemerged in recent years to overcome some of the
problems in single unmanned aerial vehicle handling and delivery systems. Using multiple …

Featured Application: Supply delivery tasks are commonly present in hostile regions of
natural disasters, in military operations, and in agricultural and urban environments. In this …