Technological advances in the last decade not only made the construction of small scale UAVs feasible but also opened the path to a plethora of applications. Currently the development of UAVs able to independently alter their position and attitude (independent axis control) is attracting significant attention since such capabilities can extend the use of UAVs as versatile field robots capable for any inspection/surveillance task, for traversing cluttered space, and for assembly or interaction tasks. Our work aims at the development of a versatile small scale UAV field robot, with independent axes control, while simultaneously advancing the state of the art in small scale UAVs through the research of theoretical and practical knowledge. More specifically, through the development of innovative designs and control strategies our goals focus on achieving robustness, agility and precision in the field of small scale UAVs with independent axis control.

For complete publications list see here

• Ramp, M. and Papadopoulos, E., “On Modeling and Control of a Holonomic Tricopter,” Journal of Intelligent & Robotic Systems, accepted, November 2021.

• Ramp, M. and Papadopoulos, E., “On the global behavior of a Geometric PDAV controller by means of a geometrically exact linearization,”  ASME Journal of Dynamic Systems, Measurement and Control, July 2021, 143(7): 074501.

• Ramp, M., and Papadopoulos, E., “On negotiating aggressive quadrotor attitude tracking maneuvers under actuator constraints,” 26th Mediterranean Conference on Control and Automation, Zadar, Croatia, June 19-22, 2018.

• Ramp, M., and Papadopoulos, E., “Geometric Surface-Based Tracking Control of a Quadrotor UAV for aggressive maneuvers,” 26th Mediterranean Conference on Control and Automation, Zadar, Croatia, June 19-22, 2018.

• Ramp, M., and Papadopoulos, E., “Global closed-loop equilibrium properties of a geometric PDAV controller via a coordinate-free linearization,” Proc. European Control Conference, (ECC ’18), Limassol, Cyprus, June 12-15, 2018.

• Ramp, M. and Papadopoulos, E., “On Modeling and Control of a Holonomic Vectoring Tricopter,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS ‘15), Hamburg, Germany, September 28 – October 02, 2015.

• Ramp, M. and Papadopoulos, E., “Attitude and Angular Velocity Tracking for a Rigid Body using Geometric Methods on the Two-Sphere,” Proc. of the European Control Conference 2015, Johannes Kepler University, Linz, Austria, July 15-17, 2015.