Explanipedia

An Active Fault-Tolerant Online Control Allocation Scheme for a Dual-System UAV in Transition Flight Open

Junfeng Cai, Marco Lovera · 2025

A novel active fault-tolerant control (AFTC) scheme for a dual-system vertical takeoff and landing (VTOL) unmanned aerial vehicle (UAV) during transition flight is proposed in this paper. The AFTC scheme is composed of a baseline control l…

TACOS: Task Agnostic COordinator of a multi-drone System Open

Alessandro Nazzari, Roberto Rubinacci, Marco Lovera · 2025

When a single pilot is responsible for managing a multi-drone system, the task demands varying levels of autonomy, from direct control of individual UAVs, to group-level coordination, to fully autonomous swarm behaviors for accomplishing h…

Satellite and robotic arm combined control for spacecraft close-proximity operations Open

Federico Basana, Zeno Pavanello, Francesco Branz, Alessandro Francesconi, Giacomo Borelli , et al. · 2024

TRIUMF’s H-/D- Ion Source Development to Date Open

K. Jayamanna, F. Ames, Y. Bylinskii, Marco Lovera, D. Louie , et al. · 2024

The TRIUMF Stable Ion Source group has been developing negative and positive ion sources for decades, including a few arc-discharge H-/D- ion sources and a microwave-driven H-/D- ion source for medical cyclotrons [1] and other applications…

Design of the beam transport optics of TRIUMF’s new 300 keV H<sup>−</sup> ion source terminal Open

Suresh Saminathan, R. Baartman, Y. Bylinskii, Mark Ilagan, K. Jayamanna , et al. · 2024

An ion beam transport system has been designed to transport a highly intense and bright beam extracted from the H − ion source. This new system will be installed at the new injection terminal for the TRIUMF’s 500 MeV H − cyclotron. The low…

Dual Frequency Enhancement of the Supernanogan Multi-Charged Ion Source at TRIUMF ISAC Facility Open

K. Jayamanna, J Adegun, F. Ames, T. Angus, Christine Charles , et al. · 2024

In 2008, a Supernanogan ECR ion source from PANTECHNIK was introduced in addition to an in-house developed microwave ion source and a surface ion source to complement the TRIUMF Offline Ion Source (OLIS) facility to provide highly charged …

Design and commissioning of a versatile surface ion source Open

Suresh Saminathan, F. Ames, T. Angus, R. Baartman, Christopher J. Charles , et al. · 2024

A compact and versatile ion source was designed and commissioned to be used with the new low energy ion beam facilities at TRIUMF. The ion source is based on the principle of surface ionization, in which ions are generated from a neutral a…

Experiential learning in automatic control using quadrotor UAVs Open

Simone Panza, Yejin Wi, Davide Invernizzi, Marzia Cescon, Marco Lovera · 2024

Vision-Based Air-to-Air Autonomous Landing of Underactuated VTOL UAVs Open

Gabriele Roggi, Giovanni Gozzini, Davide Invernizzi, Marco Lovera · 2023

This article addresses the problem of air-to-air autonomous landing of a small underactuated unmanned aerial vehicle (UAV) on a larger one (carrier) in a noncooperative manner using vision-based state estimation. A Kalman filter-based stat…

Extended Kalman filters for close-range navigation to noncooperative targets Open

Gabriella Gaias, Marco Lovera · 2023

Investigating Advanced AOCS Techniques to Improve Robustness and Reliability of Low-Cost Missions Open

Garima Pandey, Giovanni Lapiccirella, Marco Lovera, Davide Invernizzi, Salvatore Meraglia , et al. · 2023

In the last decade, the space sector has seen rapid growth with new players entering the business, bringing with them a wave of innovation in spacecraft design and development solutions. This innovation includes the attempt to simplify pro…

Design of an Active Balancing System for Rotating Orbital Devices Open

Salvatore Meraglia, Davide Invernizzi, Marco Lovera, Tharek Mohtar, Alessandro Bursi · 2023

This paper presents the design of an active balancing system for rotating orbital devices, motivated by recent space applications for spacecraft endowed with rotating payloads. The main motivation behind this work is the Copernicus Imaging…

Leonardo Drone Contest Autonomous Drone Competition: Overview, Results, and Lessons Learned from Politecnico di Milano Team Open

Gabriele Roggi, Salvatore Meraglia, Marco Lovera · 2023

In this paper, the Politecnico di Milano solutions proposed for the Leonardo Drone Contest (LDC) are presented. The Leonardo Drone Contest is an annual autonomous drone competition among universities, which has already seen the conclusion …

Global robust attitude tracking with torque disturbance rejection via dynamic hybrid feedback Open

Davide Invernizzi, Marco Lovera, Luca Zaccarian · 2022

The role of closed-loop attitude dynamics in adaptive UAV position control Open

Salvatore Meraglia, Marco Lovera · 2022

This paper presents the design and the stability analysis of an adaptive position controller for Unmanned Aerial Vehicles (UAVs). Considering a hierarchical control scheme, the novelty of this work is the definition of a systematic approac…

Trajectory Design for Proximity Operations: The Relative Orbital Elements' Perspective Open

Gabriella Gaias, Marco Lovera · 2021

The data sets provided here can be used to recreate the plots of the paper “Trajectory Design for Proximity Operations: The Relative Orbital Elements’ Perspective” available at this link. That paper presents how to rigorously transform bac…

Trajectory Design for Proximity Operations: The Relative Orbital Elements' Perspective Open

Gabriella Gaias, Marco Lovera · 2021

The data sets provided here can be used to recreate the plots of the paper “Trajectory Design for Proximity Operations: The Relative Orbital Elements’ Perspective” available at this link. That paper presents how to rigorously transform bac…

Smoother-Based Iterative Learning Control for UAV Trajectory Tracking Open

Salvatore Meraglia, Marco Lovera · 2021

This letter presents a data-based control approach to achieve high-performance trajectory tracking with Unmanned Aerial Vehicles (UAVs). We revisit an existing Iterative Learning Control (ILC) algorithm based on the notion that the perform…

Trajectory Design for Proximity Operations: The Relative Orbital Elements’ Perspective Open

Gabriella Gaias, Marco Lovera · 2021

The need to preserve commercial and scientific relevant orbits in the low Earth belt asks for the active removal of inoperative satellites, which lay on slowly decaying orbits and typically present a moderate eccentricity value. Proximity …

FAST-Hex—A Morphing Hexarotor: Design, Mechanical Implementation, Control and Experimental Validation Open

Markus Ryll, Davide Bicego, Mattia Giurato, Marco Lovera, Antonio Franchi · 2021

We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The …

Design and characterization of the 2DoF Drone: a multirotor platform for education and research Open

Simone Panza, Davide Invernizzi, Mattia Giurato, Marco Lovera · 2021

LPV model identification of a flapping wing MAV Open

Matteo Passaro, Marco Lovera · 2021

The problem of model identification for the local dynamics of a flapping wing MAY is considered. Following a discussion of the underlying modelling challenges, an approach to model identification is proposed and two subspace model identifi…

Combined Control and Navigation Approach to the Robotic Capture of Space Vehicles Open

Z. Pavanello, Francesco Branz, Alessandro Francesconi, Angelo Cenedese, Riccardo Antonello , et al. · 2021

The potentialities of In-Orbit Servicing (IOS) to extend the operational life of satellites and the need to implement Active Debris Removal (ADR) to effectively tackle the space debris problem are well known among the space community. Rese…

A course on adaptive and autonomous aerospace systems Open

Davide Invernizzi, Marco Lovera · 2021

In this paper we present the one-semester course “Adaptive and Autonomous aerospace Systems” to be taught to master students in aerospace engineering at Politecnico di Milano starting fall 2021. The paper discusses the course motivation an…

Integration of experimental activities into remote teaching using a quadrotor test-bed Open

Davide Invernizzi, Simone Panza, Mattia Giurato, Guitao Yang, Kaiwen Chen , et al. · 2021

Fixed-Dynamics Antiwindup Design: Application to Pitch-Limited Position Control of Multirotor Unmanned Aerial Vehicles Open

Pietro Ghignoni, Davide Invernizzi, Marco Lovera · 2020

In this brief, we present and validate an antiwindup (AW) control design suitable to deal with saturated discrete-time linear plants. Following the modern approach to AW design, the proposed synthesis procedure is based on the compensator …

Structured μ-Synthesis of Robust Attitude Control Laws for Quad-Tilt-Wing Unmanned Aerial Vehicle Open

Simone Panza, Marco Lovera, Masayuki Sato, Koji Muraoka · 2020

The problem of designing the longitudinal flight controller for a quad-tilt-wing unmanned aerial vehicle to achieve robust performance under constraints on the controller structure is considered. An approach based on μ-synthesis is propose…

Hierarchical dynamic control for robust attitude tracking Open

Davide Invernizzi, Marco Lovera, Luca Zaccarian · 2020

International audience

Closed-loop MIMO data-driven attitude control design for a multirotor UAV Open

A. Zangarini, Davide Invernizzi, Pietro Panizza, Marco Lovera · 2020

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