Joseph Moore



Fixed-wing unmanned aerial vehicles (UAVs) offer significant performance advantages over rotary-wing UAVs in terms of speed, endurance, and efficiency. However, these vehicles have traditionally been severely limited with regards to maneuverability. In this paper, we present a nonlinear control approach for enabling aerobatic fixed-wing UAVs to man   ...more

In this paper, we describe the design and analysis of a fixed-wing unmanned aerial-aquatic vehicle. Inspired by prior work in aerobatic post-stall maneuvers for fixed-wing vehicles [1], we explore the feasibility of executing a water-to-air transition with a fixed-wing vehicle using almost entirely commercial off-the-shelf components (excluding th   ...more

This paper presents a nested marsupial robotic system and its execution of a notional disaster response task. Human supervised autonomy is facilitated by tightly-coupled, high-level user feedback enabling command and control of a bimanual mobile manipulator carrying a quadrotor unmanned aerial vehicle that carries a miniature ground robot. Each ro   ...more

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