Research papers
5,883 papers · NASA NTRS, NTSB, FAA CAMI
NASA NTRS · 1,269 NTSB Safety Studies · 12 NTSB Aircraft Accident Reports · 17 Embry-Riddle Scholarly Commons · 1,993
5,883 matches
- NASA NTRS 2025 ARC Presentation
LEO to GEO Communications from Concept to On Orbit Mission Success
NOAA (National Oceanic and Atmospheric Administration) and the NOW (Nano Orbital Workshop) project at NASA Ames Research Center collaborated to prove that the GOES satellites can communicate with spacecraft in LEO and pr…
- NASA NTRS 2025 ARC Abstract
LEO to GEO Communications from Concept to On Orbit Mission Success
NOAA (National Oceanic and Atmospheric Administration) and the NOW (Nano Orbital Workshop) project at NASA Ames Research Center collaborated to prove that the GOES satellites can communicate with spacecraft in LEO and pr…
- arXiv 2025 ARXIV arXiv preprint
Distributed Time-Varying Gaussian Regression via Kalman Filtering
We consider the problem of learning time-varying functions in a distributed fashion, where agents collect local information to collaboratively achieve a shared estimate.
- arXiv 2025 ARXIV arXiv preprint
Robust Planning and Control of Omnidirectional MRAVs for Aerial Communications in Wireless Networks
A new class of Multi-Rotor Aerial Vehicles (MRAVs), known as omnidirectional MRAVs (o-MRAVs), has gained attention for their ability to independently control 3D position and orientation.
- arXiv 2025 ARXIV arXiv preprint
Enhanced UAV Navigation Systems through Sensor Fusion with Trident Quaternions
This paper presents an integrated navigation algorithm based on trident quaternions, an extension of dual quaternions. The proposed methodology provides an efficient approach for achieving precise and robust navigation b…
- arXiv 2025 ARXIV arXiv preprint
Imperative MPC: An End-to-End Self-Supervised Learning with Differentiable MPC for UAV Attitude Control
Modeling and control of nonlinear dynamics are critical in robotics, especially in scenarios with unpredictable external influences and complex dynamics.
- arXiv 2025 ARXIV arXiv preprint
Integrator Anti-Windup Design for Servo-Controllers with Position Constraints
A control design modification to prevent integrator windup for position saturated servo-controllers is introduced. The design is based on the formalism of Control Barrier Functions and represents an anti-windup integrato…
- arXiv 2025 ARXIV arXiv preprint
Spectrum Sharing in STAR-RIS-assisted UAV with NOMA for Cognitive Radio Networks
As an emerging technology, the simultaneous transmitting and reflecting reconfigurable intelligent surface (STAR-RIS) can improve the spectrum efficiency (SE) of primary users (PUs) and secondary users (SUs) in cognitive…
- arXiv 2025 ARXIV arXiv preprint
WildLive: Near Real-time Visual Wildlife Tracking onboard UAVs
Live tracking of wildlife via high-resolution video processing directly onboard drones is widely unexplored and most existing solutions rely on streaming video to ground stations to support navigation.
- arXiv 2025 ARXIV arXiv preprint
A highly maneuverable flying squirrel drone with controllable foldable wings
Typical drones with multi rotors are generally less maneuverable due to unidirectional thrust, which may be unfavorable to agile flight in very narrow and confined spaces.
- arXiv 2025 ARXIV arXiv preprint
Multi-Robot Coordination with Adversarial Perception
This paper investigates the resilience of perception-based multi-robot coordination with wireless communication to online adversarial perception.
- arXiv 2025 ARXIV arXiv preprint
Leveraging Large Self-Supervised Time-Series Models for Transferable Diagnosis in Cross-Aircraft Type Bleed Air System
Bleed Air System (BAS) is critical for maintaining flight safety and operational efficiency, supporting functions such as cabin pressurization, air conditioning, and engine anti-icing.
- arXiv 2025 ARXIV arXiv preprint
Quickest change detection for UAV-based sensing
This paper addresses the problem of quickest change detection (QCD) at two spatially separated locations monitored by a single unmanned aerial vehicle (UAV) equipped with a sensor.
- arXiv 2025 ARXIV arXiv preprint
Cable Optimization and Drag Estimation for Tether-Powered Multirotor UAVs
The flight time of multirotor unmanned aerial vehicles (UAVs) is typically constrained by their high power consumption. Tethered power systems present a viable solution to extend flight times while maintaining the advant…
- arXiv 2025 ARXIV arXiv preprint
Contrail, or not contrail, that is the question: the "feasibility" of climate-optimal routing
The environmental impact of aviation has been a focus of significant research for several decades. While there is a broad consensus among stakeholders on reducing carbon emissions, leading to efforts to improve route eff…
- arXiv 2025 ARXIV arXiv preprint
Jointly-optimized Trajectory Generation and Camera Control for 3D Coverage Planning
This work proposes a jointly optimized trajectory generation and camera control approach, enabling an autonomous agent, such as an unmanned aerial vehicle (UAV) operating in 3D environments, to plan and execute coverage …
- arXiv 2025 ARXIV arXiv preprint
Collision-free landing of multiple UAVs on moving ground vehicles using time-varying control barrier functions
In this article, we present a centralized approach for the control of multiple unmanned aerial vehicles (UAVs) for landing on moving unmanned ground vehicles (UGVs) using control barrier functions (CBFs).
- arXiv 2025 ARXIV arXiv preprint
A data-driven convergence booster for accelerating and stabilizing pseudo time-stepping
This paper introduces a novel data-driven convergence booster that not only accelerates convergence but also stabilizes solutions in cases where obtaining a steady-state solution is otherwise challenging.
- Semantic Scholar 2025 Article (J. Sens. Actuator Networks)
Urban Air Mobility, Personal Drones, and the Safety of Occupants - A Comprehensive Review
Urban air mobility (UAM) is expected to provide environmental benefits while enhancing transportation for citizens and businesses, particularly in commercial and emergency medical applications.
- arXiv 2025 ARXIV arXiv preprint
A Self-Supervised Learning Approach with Differentiable Optimization for UAV Trajectory Planning
While Unmanned Aerial Vehicles (UAVs) have gained significant traction across various fields, path planning in 3D environments remains a critical challenge, particularly under size, weight, and power (SWAP) constraints.
- arXiv 2025 ARXIV arXiv preprint
Energy Aware and Safe Path Planning for Unmanned Aircraft Systems
This paper proposes a path planning algorithm for multi-agent unmanned aircraft systems (UASs) to autonomously cover a search area, while considering obstacle avoidance, as well as the capabilities and energy consumption…
- arXiv 2025 ARXIV arXiv preprint
A Modular Energy Aware Framework for Multicopter Modeling in Control and Planning Applications
Unmanned aerial vehicles (UAVs), especially multicopters, have recently gained popularity for use in surveillance, monitoring, inspection, and search and rescue missions.
- Semantic Scholar 2025 Article (Aerospace)
Urban Air Mobility Aircraft Operations in Urban Environments: A Review of Potential Safety Risks
The expansion of Urban Air Mobility (UAM) has led to diverse aircraft designs, with piloted systems expected to evolve into remotely piloted and automated operations.
- arXiv 2025 ARXIV arXiv preprint
On Composable and Parametric Uncertainty in Systems Co-Design
Optimizing the design of complex systems requires navigating interdependent decisions, heterogeneous components, and multiple objectives.
- arXiv 2025 ARXIV arXiv preprint
Autonomy Architectures for Safe Planning in Unknown Environments Under Budget Constraints
Mission planning can often be formulated as a constrained control problem under multiple path constraints (i.e., safety constraints) and budget constraints (i.e., resource expenditure constraints).
- arXiv 2025 ARXIV arXiv preprint
Intuitive Human-Drone Collaborative Navigation in Unknown Environments through Mixed Reality
Considering the widespread integration of aerial robots in inspection, search and rescue, and monitoring tasks, there is a growing demand to design intuitive human-drone interfaces.
- Embry-Riddle Scholarly Commons 2025 ERAU Safety program report
U.S. Federal Aviation Administration Safety Management System Regulations: An Informal Policy Evaluation
The United States (US) Federal Aviation Administration (FAA) revised 14 CFR § Part 5 Safety Management Systems, effective May 28, 2024.
- NASA NTRS 2025 ARC Technical Memorandum (TM)
BVLOS UAS Cargo Delivery Simulation - A DoD-Sponsored Operational Evaluation with NASA and Project ULTRA
Currently existing UAS flight system implementations often require a Federal Aviation Administration (FAA) Certificate of Waiver or Authorization (COA), thus posing the challenge of missions being repeatable.
- NASA NTRS 2025 GRC Presentation
NASA Icing Update – March 2025
This NASA Icing Update was prepared for presentation to the SAE International AC-9C Inflight Icing Technology Committee. This update includes the following topics: planned Rotational Icing Scaling tests, the Glenn Icing …
- NASA NTRS 2025 ARC Conference Paper
Potential of United States and European Regional Air Cargo Operations for Uncrewed Aircraft Systems
Regional air cargo is a promising initial use case for Uncrewed Aircraft Systems (UAS) to address scalability challenges such as pilot shortage.
- NASA NTRS 2025 ARC Conference Paper
Initial Study of Tailored Trajectory Management for Multi-Vehicle Uncrewed Regional Air Cargo Operations
The primary contribution of this paper is an evaluation of the potential value of a tailored trajectory management (TTM) capability for uncrewed aircraft (UA) operators that is proactive in detecting conflicts and develo…
- arXiv 2025 ARXIV arXiv preprint
Intent-Aware MPC for Aircraft Detect-and-Avoid with Response Delay: A Comparative Study with ACAS Xu
In this paper, we propose an intent-aware Model Predictive Control (MPC) approach for the remain-well-clear (RWC) functionality of a multi-agent aircraft detect-and-avoid (DAA) system and compare its performance with the…
- arXiv 2025 ARXIV arXiv preprint
Deep Visual Servoing of an Aerial Robot Using Keypoint Feature Extraction
The problem of image-based visual servoing (IBVS) of an aerial robot using deep-learning-based keypoint detection is addressed in this article.
- arXiv 2025 ARXIV arXiv preprint
USE-LFA: A Data-Driven Framework for UAM Site Evaluation using Latent Factor Analysis
Urban air mobility (UAM) introduces new challenges for infrastructure planning, requiring data driven approaches for sustainable site selection.
- arXiv 2025 ARXIV arXiv preprint
A Multiple Artificial Potential Functions Approach for Collision Avoidance in UAV Systems
Collision avoidance is a problem largely studied in robotics, particularly in unmanned aerial vehicle (UAV) applications. Among the main challenges in this area are hardware limitations, the need for rapid response, and …
- arXiv 2025 ARXIV arXiv preprint
Energy-efficient UAV movement and user-UAV association in multi-UAV networks
These days, unmanned aerial vehicle (UAV)-based millimeter wave (mmWave) communication systems have drawn a lot of attention due to the increasing demand for faster data rates.
- arXiv 2025 ARXIV arXiv preprint
Strategies for decentralised UAV-based collisions monitoring in rugby
Recent advancements in unmanned aerial vehicle (UAV) technology have opened new avenues for dynamic data collection in challenging environments, such as sports fields during fast-paced sports action.
- arXiv 2025 ARXIV arXiv preprint
Merits of Serving UAVs via Terrestrial Networks: A Vertical Antenna Radiation Study
Unmanned Aerial Vehicles (UAVs) are increasingly used in a plethora of applications such as shipping, surveillance, and search-and-rescue. For UAVs to operate safely, reliable cellular connectivity is essential.
- arXiv 2025 ARXIV arXiv preprint
A Class of Hierarchical Sliding Mode Control based on Extended Kalman filter for Quadrotor UAVs
This study introduces a novel methodology for controlling Quadrotor Unmanned Aerial Vehicles, focusing on Hierarchical Sliding Mode Control strategies and an Extended Kalman Filter.
- arXiv 2025 ARXIV arXiv preprint
NMPC-based Unified Posture Manipulation and Thrust Vectoring for Fault Recovery
Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event of an actuator failure is necessary for t…
- arXiv 2025 ARXIV arXiv preprint
Joint State-Parameter Observer-Based Robust Control of a UAV for Heavy Load Transportation
This paper proposes a joint state-parameter observer-based controller for trajectory tracking of an octocopter unmanned aerial vehicle (OUAV), for transportation of a heavy load with unknown mass and size.
- arXiv 2025 ARXIV arXiv preprint
Throughput Maximizing Takeoff Scheduling for eVTOL Vehicles in On-Demand Urban Air Mobility Systems
Urban Air Mobility (UAM) offers a solution to current traffic congestion by using electric Vertical Takeoff and Landing (eVTOL) vehicles to provide on-demand air mobility in urban areas.
- arXiv 2025 ARXIV arXiv preprint
Flying in Highly Dynamic Environments with End-to-end Learning Approach
Obstacle avoidance for unmanned aerial vehicles like quadrotors is a popular research topic. Most existing research focuses only on static environments, and obstacle avoidance in environments with multiple dynamic obstac…
- arXiv 2025 ARXIV arXiv preprint
Variable Time-Step MPC for Agile Multi-Rotor UAV Interception of Dynamic Targets
Agile trajectory planning can improve the efficiency of multi-rotor Uncrewed Aerial Vehicles (UAVs) in scenarios with combined task-oriented and kinematic trajectory planning, such as monitoring spatio-temporal phenomena…
- arXiv 2025 ARXIV arXiv preprint
A Convex Formulation of Game-theoretic Hierarchical Routing
Hierarchical decision-making is a natural paradigm for coordinating multi-agent systems in complex environments such as air traffic management.
- Semantic Scholar 2025 Article (PeerJ Computer Science)
Data-driven flight path monitoring technique using recurrent neural network for the safety management of commercial aircraft
Aviation spins, particularly at low altitudes, significantly contribute to fatalities due to limited recovery time. Standard recovery procedures typically only become eligible after a spin is fully developed, by which ti…
- arXiv 2025 ARXIV arXiv preprint
On the modeling of nonlinear wind-induced ice-drift ocean currents at the North Pole
Starting from the governing equations for geophysical flows, by means of a thin-shell approximation and a tangent plane approximation, we derive the equations describing, at leading order, the nonlinear ice-drift flow fo…
- arXiv 2025 ARXIV arXiv preprint
Vectorable Thrust Control for Multimodal Locomotion of Quadruped Robot SPIDAR
In this paper, I present vectorable thrust control for different locomotion modes by a novel quadruped robot, SPIDAR, equipped with vectoring rotor in each link.
- NASA NTRS 2025 LaRC Technical Memorandum (TM)
Considerations for Airspace Integration Enabling Early Multi-Aircraft (m:N) Operations
The aviation community is planning to deploy new aircraft types, with new missions, and advanced operational concepts that are collectively referred to as Advanced Air Mobility (AAM).
- Semantic Scholar 2025 Article (Aerospace)
Designing an Urban Air Mobility Corridor Network: A Multi-Objective Optimization Approach Using U-NSGA-III
The corridor network serves as an effective solution for the airspace structure safety design of UAM. However, current studies rarely account for the ground risk posed by the corridor operation and typically consider a s…