Publications

@inproceedings{10556907,

title = {System Identification for Fully-Actuated UAV Control Allocation},

author = {Jos Spaans and Sam Gilbert and Karl A. Stol and Salim Al-Zubaidi},

doi = {10.1109/ICUAS60882.2024.10556907},

year  = {2024},

date = {2024-06-04},

urldate = {2024-06-04},

booktitle = {2024 International Conference on Unmanned Aircraft Systems (ICUAS)},

pages = {193-200},

address = {Chania, Crete, Greece},

organization = {IEEE},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{nokey,

title = {Parametric study on tilt-rotor octocopter control in the presence of wind and physical contact disturbances},

author = {Shahab Kazemi and Karl Stol},

url = {https://ssl.linklings.net/conferences/acra/acra2023_proceedings/views/includes/files/pap123s2.pdf},

year  = {2023},

date = {2023-12-05},

booktitle = {2023 Australasian Conference on Robotics and Automation (ACRA 2023)},

pages = {1-9},

address = {Sydney, NSW, Australia},

organization = {Australian Robotics and Automation Association},

abstract = {This paper studies the position and attitude control of a tilted-rotor unmanned aerial vehicle (UAV) in the presence of wind and physical contact disturbances. Since the presented UAV is a fully-actuated tilted rotor aircraft, it can generate vectored thrust, leading to translation in horizontal plane without tilting its body. This makes it a suitable candidate for real-world applications where the UAV interacts with external objects through a long arm. At first, the aircraft’s dynamic model is extracted, and the aerodynamic model is introduced on its propellers and frame under wind disturbance. In addition, a coupled contact model is proposed as the source of physical interaction disturbance from outside. Two independent cascaded Proportional plus Proportional-Integral-Derivative (P-PID) controllers are designed to track the desired trajectory while quickly rejecting the disturbances. Also, to deal with the physical contact disturbance, the control system is augmented by an admittance controller to generate a compliant trajectory when the UAV is in contact with a fixed physical object. A precise numerical simulation is conducted to examine the proposed controller in rejecting disturbances, mimicking a real world application. Two methods of generating thrust, vectored and attitude thrust, are discussed, and applied in the simulation. Eventually, the aircraft’s performance is analysed thoroughly under different wind speeds. Also, simulation results investigate the performance difference between vectored and attitude thrusts.},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{imav2023-24:j_chen_et_al,

title = {Measuring Disturbance Response of a Fully-Actuated UAV using Surging Flow Wind Tunnel Experiments},

author = {Junyi Chen and Nicholas Kay and Karl Stol},

url = {http://www.imavs.org/papers/2023/24.pdf},

year  = {2023},

date = {2023-09-11},

urldate = {2023-09-11},

booktitle = {14th Annual International Micro Air Vehicle Conference and Competition},

pages = {192--198},

address = {Aachen, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{imav2023-6:d_yang_et_al,

title = {Determining the moment of inertia tensor of a UAV using a motion capture system},

author = {David Yang and Salim Al-Zubaidi and Karl Stol},

url = {http://www.imavs.org/papers/2023/6.pdf},

year  = {2023},

date = {2023-09-11},

urldate = {2023-09-11},

booktitle = {14th Annual International Micro Air Vehicle Conference and Competition},

pages = {48--55},

address = {Aachen, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{imav2023-12:i_liu_et_al,

title = {Analysis of admittance control for a fully-actuated, tactile UAV},

author = {Iris Liu and Suvarna Swaraj and Salim Al-Zubaidi and Karl Stol},

url = {http://www.imavs.org/papers/2023/12.pdf},

year  = {2023},

date = {2023-09-11},

urldate = {2023-09-11},

booktitle = {14th Annual International Micro Air Vehicle Conference and Competition},

pages = {100--107},

address = {Aachen, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{imav2023-15:c_probine_et_al,

title = {Performance Comparisons on Fully-Actuated Multirotors with Different Actuation Modes},

author = {Caleb Probine and Karl Stol},

url = {http://www.imavs.org/papers/2023/15.pdf},

year  = {2023},

date = {2023-09-11},

urldate = {2023-09-11},

booktitle = {14th Annual International Micro Air Vehicle Conference and Competition},

pages = {126--133},

address = {Aachen, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{imav2023-18:c_probine_et_al,

title = {Model Predictive Control on an Over-actuated Octocopter for Wind Disturbance Rejection},

author = {Caleb Probine and David Yang and Karl Stol and Nicholas Kay},

url = {http://www.imavs.org/papers/2023/18.pdf},

year  = {2023},

date = {2023-09-11},

urldate = {2023-09-11},

booktitle = {14th Annual International Micro Air Vehicle Conference and Competition},

pages = {148--155},

address = {Aachen, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{imav2023-29:j_taylor_et_al,

title = {Assessing the Agility of a Variable-Tilt UAV},

author = {Matthew Edwards and Joshua Taylor and Karl Stol and Salim Al-Zubaidi and Nicholas Kay},

url = {http://www.imavs.org/papers/2023/19.pdf},

year  = {2023},

date = {2023-09-11},

urldate = {2023-09-11},

booktitle = {14th Annual International Micro Air Vehicle Conference and Competition},

pages = {156--163},

address = {Aachen, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{imav2023-20:s_alzubaidi_et_al,

title = {Analysis of the Transient Response of UAV Rotors},

author = {Salim Al-Zubaidi and Karl Stol},

url = {http://www.imavs.org/papers/2023/20.pdf},

year  = {2023},

date = {2023-09-11},

urldate = {2023-09-11},

booktitle = {14th Annual International Micro Air Vehicle Conference and Competition},

pages = {164-169},

address = {Aachen, Germany},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{nokey,

title = {Generating sinusoidal flow surges in a large closed-loop wind tunnel},

author = {Nicholas Kay and Rory Buchanan and Peter Richards and Karl Stol},

url = {https://www.icwe2023.com/},

year  = {2023},

date = {2023-08-30},

urldate = {2023-08-30},

booktitle = {16th International Conference on Wind Engineering},

address = {Florence, Italy},

organization = {International Association for Wind Engineering},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{9836158,

title = {Preliminary design optimisation of a novel fixed-tilt heterogeneous UAV for horizontal agility},

author = {Salim Al-Zubaidi and Karl A. Stol},

doi = {10.1109/ICUAS54217.2022.9836158},

year  = {2022},

date = {2022-01-01},

booktitle = {2022 International Conference on Unmanned Aircraft Systems (ICUAS)},

pages = {1489-1496},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{9635995,

title = {The New Dexterity Omnirotor Platform: Design, Modeling, and Control of a Modular, Versatile, All-Terrain Vehicle},

author = {Joao Buzzatto and Pedro H. Mendes and Navin Perera and Karl Stol and Minas Liarokapis},

doi = {10.1109/IROS51168.2021.9635995},

year  = {2021},

date = {2021-01-01},

booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {6336-6343},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{lin2021fast,

title = {Fast Trajectory Tracking of Multi-Rotor UAVs using First-Order Model Predictive Control},

author = {TJ Lin and Karl Stol},

year  = {2021},

date = {2021-01-01},

booktitle = {Australasian Conference on Robotics and Automation (ACRA)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{stol2021analysis,

title = {Analysis and Design of a Novel Fully-Actuated Compact Multirotor},

author = {Karl Stol and PH Souza},

year  = {2021},

date = {2021-01-01},

booktitle = {Australasian Conference on Robotics and Automation (ACRA)},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{8945686,

title = {An Analytical Dynamics Approach for Nonlinear Trajectory-Tracking Control of Quadrotors: Numerical and Experimental Results},

author = {Pedro H. Mendes Souza and Karl A. Stol},

doi = {10.1109/ANZCC47194.2019.8945686},

year  = {2019},

date = {2019-01-01},

booktitle = {2019 Australian & New Zealand Control Conference (ANZCC)},

pages = {122-127},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{8797945,

title = {Towards Automated Under-Canopy Exploration of Plantation Forests},

author = {Tzu-Jui Lin and Karl A. Stol},

doi = {10.1109/ICUAS.2019.8797945},

year  = {2019},

date = {2019-01-01},

booktitle = {2019 International Conference on Unmanned Aircraft Systems (ICUAS)},

pages = {1201-1208},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{8452316,

title = {Development of a Wind Tunnel Experimental Setup for Testing Multirotor Unmanned Aerial Vehicles in Turbulent Conditions},

author = {J. X. J. Bannwarth and Z. J. Chen and K. A. Stol and B. A. MacDonald and P. J. Richards},

doi = {10.1109/AIM.2018.8452316},

year  = {2018},

date = {2018-01-01},

booktitle = {2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},

pages = {724-729},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{de2018precision,

title = {Precision weed spraying using a multirotor UAV},

author = {Lucas J Rijk and Seumas M Beedie and Karl A Stol},

year  = {2018},

date = {2018-01-01},

booktitle = {The 10th International Micro-Air Vehicles Conference},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{8452231,

title = {Automated Perching of a Multirotor UAV atop Round Timber Posts},

author = {Tzu-Jui Lin and Siyu Long and Karl A. Stol},

doi = {10.1109/AIM.2018.8452231},

year  = {2018},

date = {2018-01-01},

booktitle = {2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},

pages = {486-491},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{8453383,

title = {Analysis of a Multirotor UAV with Tilted-Rotors for the Purposes of Disturbance Rejection},

author = {Z. Jeremy Chen and Jérémie X. J. Bannwarth and Karl A. Stol and Peter J. Richards},

doi = {10.1109/ICUAS.2018.8453383},

year  = {2018},

date = {2018-01-01},

booktitle = {2018 International Conference on Unmanned Aircraft Systems (ICUAS)},

pages = {864-873},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7991500,

title = {Vision-based object path following on a quadcopter for GPS-denied environments},

author = {Daniel H. S. De Mel and Karl A. Stol and Jay A. D. Mills and Blair R. Eastwood},

doi = {10.1109/ICUAS.2017.7991500},

year  = {2017},

date = {2017-01-01},

booktitle = {2017 International Conference on Unmanned Aircraft Systems (ICUAS)},

pages = {456-461},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7602937,

title = {Speech enhancement using a microphone array mounted on an unmanned aerial vehicle},

author = {Yusuke Hioka and Michael Kingan and Gian Schmid and Karl A. Stol},

doi = {10.1109/IWAENC.2016.7602937},

year  = {2016},

date = {2016-01-01},

booktitle = {2016 IEEE International Workshop on Acoustic Signal Enhancement (IWAENC)},

pages = {1-5},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7866401,

title = {Modeling and characterization of a canopy sampling aerial manipulator},

author = {James R. Kutia and Weiliang Xu and Karl A. Stol},

doi = {10.1109/ROBIO.2016.7866401},

year  = {2016},

date = {2016-01-01},

booktitle = {2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)},

pages = {679-684},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7502632,

title = {Disturbance accomodation control for wind rejection of a quadcopter},

author = {J. X. J. Bannwarth and Z. J. Chen and K. A. Stol and B. A. MacDonald},

doi = {10.1109/ICUAS.2016.7502632},

year  = {2016},

date = {2016-01-01},

booktitle = {2016 International Conference on Unmanned Aircraft Systems (ICUAS)},

pages = {695-701},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7502616,

title = {Initial flight experiments of a canopy sampling aerial manipulator},

author = {James R. Kutia and Karl A. Stol and Weiliang Xu},

doi = {10.1109/ICUAS.2016.7502616},

year  = {2016},

date = {2016-01-01},

booktitle = {2016 International Conference on Unmanned Aircraft Systems (ICUAS)},

pages = {1359-1365},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7502613,

title = {Towards autonomous flight of an unmanned aerial system in plantation forests},

author = {Shutong Jiang and Karl A Stol and Weiliang Xu and Bryan Graham},

doi = {10.1109/ICUAS.2016.7502613},

year  = {2016},

date = {2016-01-01},

booktitle = {2016 International Conference on Unmanned Aircraft Systems (ICUAS)},

pages = {911-919},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7152326,

title = {Canopy sampling using an aerial manipulator: A preliminary study},

author = {James R. Kutia and Karl A. Stol and Weiliang Xu},

doi = {10.1109/ICUAS.2015.7152326},

year  = {2015},

date = {2015-01-01},

booktitle = {2015 International Conference on Unmanned Aircraft Systems (ICUAS)},

pages = {477-484},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7081132,

title = {Controller comparisons for autonomous railway following with a fixed-wing UAV},

author = {C. Jarrett and K. Perry and K. A. Stol},

doi = {10.1109/ICARA.2015.7081132},

year  = {2015},

date = {2015-01-01},

booktitle = {2015 6th International Conference on Automation, Robotics and Applications (ICARA)},

pages = {104-109},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{7152309,

title = {Design and analysis of a UAV for skydiving},

author = {David-Reyner C. How and Bianca A. Barbarich-Bacher and Karl A. Stol},

doi = {10.1109/ICUAS.2015.7152309},

year  = {2015},

date = {2015-01-01},

booktitle = {2015 International Conference on Unmanned Aircraft Systems (ICUAS)},

pages = {348-355},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{6842280,

title = {On-board object tracking control of a quadcopter with monocular vision},

author = {Alex G. Kendall and Nishaad N. Salvapantula and Karl A. Stol},

doi = {10.1109/ICUAS.2014.6842280},

year  = {2014},

date = {2014-01-01},

booktitle = {2014 International Conference on Unmanned Aircraft Systems (ICUAS)},

pages = {404-411},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}

@inproceedings{10.1007/978-1-84628-974-3_2,

title = {Control of 3 DOF Quadrotor Model},

author = {Tae Soo Kim and Karl Stol and Vojislav Kecman},

editor = {Krzysztof Kozłowski},

isbn = {978-1-84628-974-3},

year  = {2007},

date = {2007-01-01},

booktitle = {Robot Motion and Control 2007},

pages = {29--38},

publisher = {Springer London},

address = {London},

keywords = {},

pubstate = {published},

tppubtype = {inproceedings}

}