We present a framework for performing collaborative localization groups of micro aerial vehicles (MAV) that use vision-based sensing. The are each assumed to be equipped with monocular camera, and capable communicating other. This approach is developed as decentralized algorithm built in distributed fashion where individual relative pose estimation techniques combined the group localize against...

The paper deals with the development of a bounded control law for Flappingwing Micro Aerial Vehicles (FMAVs) that mimics a strategy adopted by animal flapping flyers to stabilize their orientation. The control consists on generating torques about the body’s principal axes by means of a modulation of the wing angle amplitudes. It is known that flapping flyers orient their body without any numeri...

Insect wings demonstrate elaborate three-dimensional deformations and kinematics. These deformations are key to understanding many aspects of insect flight including aerodynamics, structural dynamics and control. In this paper, we propose a template-based subdivision surface reconstruction method that is capable of reconstructing the wing deformations and kinematics of free-flying insects based...

The paper presents work on testing of inflatable wings for unmanned aerial vehicles (UAVs). Design and construction of inflatable wings is discussed, along with ground and flight testing. Predictions and correlations of the forces required to warp (twist) the wings to a particular shape and the aerodynamic forces generated by that shape change are presented. The focus is on characterizing the d...

The understanding of fish maneuvering and its application to underwater rigid bodies are considered. The goal is to gain insight into stealth. The recent progress made in NUWC is reviewed. Fish morphology suggests that control fins for maneuverability have unique scalar relationships irrespective of their speed type. Maneuvering experiments are carried out with fish that are fast yet maneuverab...

This study used numerical and experimental approaches to investigate the role played by the clap-and-fling mechanism in enhancing force generation in hovering insect-like two-winged flapping-wing micro air vehicle (FW-MAV). The flapping mechanism was designed to symmetrically flap wings at a high flapping amplitude of approximately 192°. The clap-and-fling mechanisms were thereby implemented at...