The Mcgill Aerospace
Mechatronics Lab

The Mcgill Aerospace Mechatronics Lab

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Spacecraft Fixed Wing Propeller Plane Spiri Quadrotor Q-Ball Quadcopter

Recent Publications
in Aerospace Mechatronics

Bulka, E. and M. Nahon, "Automatic Control for Aerobatic Maneuvering of Agile Fixed-Wing UAVs,'' Journal of Intelligent and Robotic Systems, 2018.
Levin, J., A. Paranjape and M. Nahon, "Sideslip and Slipstream in Extreme Maneuvering with Fixed-Wing Unmanned Aerial Vehicles,'' AIAA Journal of Guidance, Control and Dynamics, Vol. 41, No. 7, pp. 1610-1616, 2018.
   Sagnières, L.B.M. and I. Sharf, "Stochastic Modeling of Hypervelocity Impacts in Attitude Propagation of Space Debris,'' Advances in Space Research, Vol. 59, pp. 1128-1143, 2017.
Dicker, G., F. Chui and I. Sharf, "Quadrotor collision characterization and recovery control,'' 2017 IEEE International Conference on Robotics and Automation, pp. 5830-5836, 2017.
   St-Onge, D., P.-Y. Breches, I. Sharf, N. Reeves, I. Rekleitis, P. Abouzakhm, Y. Girdhar, A. Harmat, G. Dudeck and P. Giguere, "Control, Localization and Human Interaction with an Autonomous Lighter-than-air Performer,'' Robotics and Autonomous Systems, Vol. 88, pp. 165-186, 2017.
Chen, W., S. Bifeng and M. Nahon, "Adaptive Robust Backstepping Control for Quadrotor Robot in Presence of Payload Variation and Unknown Disturbances,'' International Journal of Control and Automation, Vol. 9, No. 3, pp. 417-434, 2016.
   Botta, E.M, I. Sharf, A.K. Misra and Teichmann, M. , "On the Simulation of Tether-Nets for Space Debris Capture with Vortex Dynamics,'' Acta Astronautica, Vol. 123, pp. 91-102, 2016.
Tribou, M.J., A. Harmat, D.W.L Wang, I. Sharf and S. L. Waslander, "Multi-Camera Parallel Tracking and Mapping with Non-overlapping Fields of View,'' International Journal of Robotics Research, Vol. 34, pp. 1480-1500, 2015.
   Zhang, F., I. Sharf, A.K. Misra and P. Huang, "On-line Estimation of Inertia Parameters of Space Debris for its Tether-assisted Removal,'' Acta Astronautica, Vol. 107, pp. 150-162, 2015.
Khan, W. and M. Nahon, "Development and Validation of a Propeller Slipstream Model for Small Unmanned Aerial Vehicles,'' AIAA Journal of Aircraft, Vol. 52, No. 6, pp. 1985-1994, 2015.
Khan, W. and M. Nahon, "A Propeller Model for General Forward Flight Conditions,'' International Journal of Intelligent Unmanned Systems, Vol. 3, No. 2/3, pp. 72-92, 2015.
Dhanji, N., M. Nahon and E. Dupuis, "Comparative Study of Aerial Platforms for Mars Exploration,'' Journal of the British Interplanetary Society, Vol. 68, 2015.
   Harmat, A., M. Trentini and I. Sharf, "Multi-Camera Tracking and Mapping for Unmanned Aerial Vehicles in Unstructured Environments,'' Journal of Intelligent and Robotic Systems, 2014.
   Persson, S.M. and I. Sharf, "Sampling-based A* Algorithm for Robot Path-planning,'' International Journal of Robotics Research, Vol. 33, pp. 1683-1708, 2014.
Plamondon, N. and M. Nahon, "Adaptive Controller for a Biomimetic Underwater Vehicle,'' Journal of Unmanned Vehicle Systems, Vol. 1, No. 1, pp. 1-13, 2013.
   Liesk, T., M. Nahon and B. Boulet, "Design and Experimental Validation of a Non-linear Low-level Controller for an Unmanned Finless Airship,'' IEEE Transactions on Control Systems Technology, Vol. 21, No. 1, pp. 149-161, 2013.
Nguyen Huynh, T.-C. and I. Sharf, "Adaptive Reactionless Motion and Parameter Identification in Post-capture of Space Debris" Journal of Guidance, Control, and Dynamics, Vol. 36, pp. 404-414, 2013.
Persson, S.M. and I. Sharf, "Invariant Trapezoidal Kalman Filter for Application to Attitude Estimation,'' AIAA Journal of Guidance, Control and Dynamics, 36(3), pp. 721-733, 2013.
Harmat A., M. Trentini and I. Sharf, "Jumping Behaviour for a Wheeled Quadruped Robot: Simulation and Experiments,'' Journal of Unmanned Vehicle Systems, 1(1), pp. 41-60, 2013.
   Khan, W. and M. Nahon, "Toward an Accurate Physics-Based UAV Thruster Model,'' JIEEE/ASME Transactions on Mechatronics, Vol. 18, No. 4, pp. 1269-1279, 2013.
   Zarrouk, D., I. Sharf and M. Shoham, ''Conditions for Worm-Robot Locomotion in a Flexible Environment: Theory and Experiments,'' IEEE Transactions on Biomedical Engineering, Vol. 59, No. 3, 2012.
Wiens, A. and M. Nahon, "Optimally Efficient Swimming in Hyper-Redundant Mechanisms: Control, Design, and Energy Recovery,'' Bioinspiration & Biomimetics, Vol. 7, No.4, 13 pages, 2012.
Verscheure, D., I. Sharf, H. Bruyninckx, J. Swevers and J. De Schutter, "Identification of Contact Dynamics Parameters from Stiff Multi-point Contact Robotic Operations,'' International Journal of Robotics Research, Vol. 29, No. 4, pp. 367-385, 2010.
   Smith, J.A., I. Poulakakis, M. Trentini and I. Sharf, ''Bounding with Active Wheels and Liftoff Angle Velocity Adjustment,'' International Journal of Robotics Research, Vol. 29, No. 4, pp. 414-427, 2010.

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