This paper presents the ARCAD simulator for the rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, and Vertical Take-Off and Landing (VTOL) hybrid vehicles. The simulator is designed to accelerate these aircraft's modeling and control design. It provides various analyses of the design and operation, such as wrench-set computation, controller response, and flight optimization. In addition to simulating free flight, it can simulate the physical interaction of the aircraft with its environment. The simulator is written in MATLAB to allow rapid prototyping and is capable of generating graphical visualization of the aircraft and the environment in addition to generating the desired plots. It has been used to develop several real-world multirotor and VTOL applications. The source code is available at https://github.com/keipour/aircraft-simulator-matlab.

空中机器人与环境的物理相互作用具有无数的潜在应用，并且是一个有许多开放挑战的新兴领域。已经引入了完整的多运动，以应对其中一些挑战。它们提供了对位置和方向的完全控制，并消除了将多道操纵臂连接到机器人的需求。但是，在现实世界应用程序中使用它们之前，有许多开放问题。研究人员在有限的设置中介绍了一些物理互动的方法。他们的实验主要使用原型级软件，而没有有效与现实世界应用集成的有效途径。我们描述了一种新的具有成本效益的解决方案，用于将这些机器人与现有软件和硬件飞行系统用于现实世界应用程序，并将其扩展到物理互动应用程序。另一方面，现有的控制式机器人的控制方法对机器人可用的推力和时刻进行了保守的限制。使用保守的假设对这些已经有利的机器人，它们的相互作用甚至不那么最佳，甚至可能导致许多可行的物理互动应用变得不可行。这项工作提出了一种实时方法，用于估计机器人可以用来优化其物理互动性能的完整的即时可用力和矩。最后，许多现实世界的应用程序可以改善现有的手动解决方案处理可变形对象。但是，对他们的操纵的看法和计划仍然具有挑战性。这项研究探讨了如何将空中物理互动扩展到可变形物体。它提供了一种适用于操纵可变形的一维对象的检测方法，并介绍了计划操纵这些对象的新观点。

Enabling vertical take-off and landing while providing the ability to fly long ranges opens the door to a wide range of new real-world aircraft applications while improving many existing tasks. Tiltrotor vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) are a better choice than fixed-wing and multirotor aircraft for such applications. Prior works on these aircraft have addressed aerodynamic performance, design, modeling, and control. However, a less explored area is the study of their potential fault tolerance due to their inherent redundancy, which allows them to tolerate some degree of actuation failure. This paper introduces tolerance to several types of actuator failures in a tiltrotor VTOL aircraft. We discuss the design and modeling of a custom tiltrotor VTOL UAV, which is a combination of a fixed-wing aircraft and a quadrotor with tilting rotors, where the four propellers can be rotated individually. Then, we analyze the feasible wrench space the vehicle can generate and design the dynamic control allocation so that the system can adapt to actuator failures, benefiting from the configuration redundancy. The proposed approach is lightweight and is implemented as an extension to an already-existing flight control stack. Extensive experiments validate that the system can maintain the controlled flight under different actuator failures. To the best of our knowledge, this work is the first study of the tiltrotor VTOL's fault-tolerance that exploits the configuration redundancy. The source code and simulation can be accessed at https://theairlab.org/vtol.

在过去的五十年中，刚体机器人技术的成熟领域已经成熟，对可变形物体的路线，计划和操纵最近已成为许多领域中更加未触及的研究领域，从外科机器人到工业组装和建筑。依赖于学习的隐式空间表示（例如，从示范方法学习）的可变形对象的路由方法使它们容易受到环境和特定设置的变化的影响。另一方面，完全将可变形对象的空间表示与路由和操纵的算法分开，通常使用独立于计划的表示方法，从而在高维空间中缓慢规划。本文提出了一种新颖的方法，用于路由可变形的一维对象（例如电线，电缆，绳索，缝合线，螺纹）。这种方法利用对象的紧凑表示形式，可以有效且快速的在线路由。空间表示基于空间的几何分解为凸子空间，从而导致将变形对象配置作为序列进行离散编码。通过这种配置，可以使用快速动态编程序列匹配方法来解决路由问题，该方法计算下一个路由移动。提出的方法将路由和有效的配置融合在一起，以改善计划时间。我们的仿真和实际实验显示了该方法正确地计算在子毫秒时间内的下一个操作操作，并完成各种路由和操纵任务。

Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle. A visual servoing controller approaches the ground vehicle using velocity commands calculated directly in image space. The control laws generate velocity commands in all three dimensions, eliminating the need for a separate height controller. The method has shown the ability to approach and land on the moving deck in simulation, indoor and outdoor environments, and compared to the other available methods, it has provided the fastest landing approach. Unlike many existing methods for landing on fast-moving platforms, this method does not rely on additional external setups, such as RTK, motion capture system, ground station, offboard processing, or communication with the vehicle, and it requires only the minimal set of hardware and localization sensors. The videos and source codes are also provided.

我们考虑一个平台从隐私敏感用户收集数据的问题，以估计潜在的感兴趣的参数。我们将这个问题作为贝叶斯的最佳机制设计问题，其中个人可以共享她的（可验证的）数据以换取货币奖励或服务，但同时有一个（私人）的异构隐私成本，我们量化使用差异隐私。我们考虑两个流行的差异隐私设置，为用户提供隐私保障：中央和本地。在两个设置中，我们为估计错误建立Minimax下限，并导出（接近）用户的异构隐私损失水平的最佳估计器。在这个特征上构建，我们将机制设计问题构成为最佳选择，以估计和支付将引起用户隐私敏感性的真实报告。在隐私敏感性分布的规律性条件下，我们开发有效的算法机制来解决两个隐私设置中的这个问题。我们在中央设置中的机制可以在时间$ \ mathcal {o}（n \ log n）$，其中$ n $是当地设置中的用户数以及我们的机制承认多项式时间近似方案（PTA）。